DE112018006676T5 - VEHICLE LIGHTING SYSTEM, VEHICLE, VEHICLE-VEHICLE COMMUNICATION SYSTEM AND VEHICLE SYSTEM - Google Patents

Abstract

This lighting system (4) provided in a vehicle (1) capable of traveling in an automated driving mode comprises: a lighting unit (42) for emitting light to the outside of the vehicle (1); and a lighting control unit for controlling the lighting unit (42) to give an oncoming vehicle (1A) existing in front of the vehicle (1) information prompting the oncoming vehicle to stop based on the vehicle width thereof and the road width in areas visually to the side of the vehicle (1).

Description

TECHNICAL AREA

The present disclosure relates to a vehicle lighting system, a vehicle, and a vehicle-to-vehicle communication system.

STATE OF THE ART

At present, research into automated driving technology for an automobile is actively being carried out in each country, and legislation is being studied in each country to allow a vehicle (hereinafter the “vehicle” refers to an automobile) to travel on a public road in an automated driving mode. A vehicle system automatically controls the movement of the vehicle in the automated driving mode. In the automated driving mode, the vehicle system specifically executes at least one of steering control (control of a traveling direction of the vehicle), brake control and accelerator control (control of vehicle braking and acceleration / deceleration) based on information (environmental information) indicating a surrounding area of the vehicle, which is controlled by a sensor such as a camera or a radar (e.g. a laser radar or a millimeter wave radar). On the other hand, in a manual driving mode described below, a driver controls the locomotion of the vehicle, as is the case with many related art vehicles. Specifically, in the manual driving mode, the locomotion of the vehicle is controlled according to an operation of the driver (a steering operation, a braking operation and an accelerator operation), and the vehicle system does not automatically perform the steering control, the braking control and the accelerator control. A driving mode of the vehicle is not a concept that exists only in some vehicles but a concept that exists in all vehicles including the related art vehicles that do not have an automated driving function, and is classified according to a vehicle control method, for example.

Therefore, the vehicle moving in the automated driving mode (hereinafter aptly referred to as an "automated driving vehicle") and the vehicle moving in the manual driving mode (hereinafter aptly referred to as a "manually driving vehicle"), coexist on the public road in the future.

As an example of the automated driving technology, Patent Document 1 discloses an automated following locomotion system in which a following vehicle automatically follows a preceding vehicle. In the following automated locomotion system, the preceding vehicle and the following vehicle each include a lighting system, and character information for preventing other vehicles from interfering between the preceding vehicle and the following vehicle is displayed on the lighting system of the preceding vehicle, and character information indicating that the following vehicle automatically following the preceding vehicle will be displayed on the lighting system of the following vehicle.

PROVIDE LITERA

PATENT DOCUMENTS

Patent 1: JP-A-H9-277887

Summary of the invention

TECHNICAL PROBLEM

Communication between vehicles is expected to be important to ensure smooth movement of vehicles on the road on which the automated driving vehicle and the manual driving vehicle coexist. For example, in a situation where two vehicles facing each other while traveling on a narrow road pass each other, communication between the two vehicles is an important factor to ensure the smooth movement of the two vehicles. In this regard, it is conceivable to realize the communication between the two vehicles by using a wireless communication function (a vehicle-to-vehicle communication function), however, the communication between the two vehicles using the wireless communication function cannot be realized when either Vehicles do not have the wireless communication function. In this way, in an upcoming automated driving society, there is room for further consideration of inter-vehicle communication.

Therefore, it is a first object of the present disclosure to provide a vehicle lighting system and a vehicle that are capable of realizing extensive visual communication between vehicles.

Next, in the automated driving society in which the automated driving vehicle travels anywhere in a city, the visual communication between the vehicle and a pedestrian or the like that is present outside the vehicle is more important. In particular, when a message from the vehicle is visually presented to the pedestrian, the pedestrian can visually recognize an intention or the like of the vehicle, and thus can feel safe. On the other hand, it is assumed that the pedestrian does not notice the message from the vehicle, or that the pedestrian cannot determine whether the message is presented to the pedestrian from the vehicle. In this way there is room for further consideration of the visual communication between the vehicle and an object.

Therefore, it is a second object of the present disclosure to provide a vehicle lighting system and a vehicle that are capable of realizing extensive visual communication between a vehicle and an object.

Further, in the automated driving society in which the automated driving vehicle travels all over the city, communication between the vehicles is expected to be important in order to ensure smooth traveling of the vehicle. In particular, when a message of one vehicle is visually presented to the occupant of the other vehicle, the occupant of the other vehicle can visually recognize an intention or the like of the other vehicle, and thus can feel safe. On the other hand, it is assumed that the occupant of the other vehicle does not notice the visual message from one vehicle or that the occupant of the other vehicle cannot determine whether the visual message from one vehicle is presented to the occupant of the other vehicle. In this way there is space for further consideration of the visual communication between the vehicles.

Therefore, a third object of the present disclosure is to provide a vehicle system and a vehicle-to-vehicle communication system which are capable of realizing extensive communication between vehicles by sight and hearing.

THE SOLUTION OF THE PROBLEM

• eine Beleuchtungseinheit, die ausgebildet ist, Licht nach außerhalb eines Fahrzeugs zu emittieren; und
• eine Beleuchtungssteuereinheit, die ausgebildet ist, die Beleuchtungseinheit derart zu steuern, dass die Beleuchtungseinheit einem entgegenkommenden Fahrzeug, das vor dem Fahrzeug anwesend ist, vorgegebene Information über Fortbewegungsunterstützung des entgegenkommenden Fahrzeugs basierend auf einer Fahrzeugbreite des entgegenkommenden Fahrzeugs und einer Straßenbreite in einem seitlichen Bereich des Fahrzeugs visuell präsentiert.

A vehicle lighting system according to one aspect of the present disclosure is provided in a vehicle capable of traveling in an automated driving mode and comprises:

• a lighting unit configured to emit light to the outside of a vehicle; and
• a lighting control unit configured to control the lighting unit such that the lighting unit gives an oncoming vehicle that is present in front of the vehicle predetermined information about locomotion assistance of the oncoming vehicle based on a vehicle width of the oncoming vehicle and a road width in a lateral area of the vehicle presented visually.

According to the above configuration, the predetermined information on the traveling assistance of the oncoming vehicle is visually presented to the oncoming vehicle based on the vehicle width of the oncoming vehicle present in front of the vehicle and the road width in the side area of the vehicle. Since an occupant of the oncoming vehicle can visually recognize the predetermined information about the travel assistance of the oncoming vehicle, the vehicle lighting system capable of realizing extensive visual communication between vehicles can be provided.

The predetermined information may include at least one of character information and graphic information.

According to the above configuration, since the occupant of the oncoming vehicle can recognize the predetermined information about the locomotion assistance of the oncoming vehicle as the character information and / or the graphic information, the vehicle lighting system capable of realizing the extensive visual communication between the vehicles can be realized , to be provided.

When at least the vehicle width is greater than or equal to the road width, the lighting control unit can control the lighting unit such that the lighting unit visually presents information to the oncoming vehicle that prompts the oncoming vehicle to stop.

According to the above configuration, when at least the vehicle width of the oncoming vehicle is greater than or equal to the road width in the side area of the vehicle, the information that prompts the oncoming vehicle to stop is visually presented to the oncoming vehicle. In this way, the occupant of the oncoming vehicle can visually recognize that the oncoming vehicle should be stopped so that the two vehicles can pass each other without difficulty (such as contact between the two vehicles). Therefore, the vehicle lighting system capable of realizing the extensive visual communication between vehicles can be provided.

The predetermined information can include the character information.

• eine Anzeigesprache der vorgegebenen Information basierend auf einer gegenwärtigen Position des Fahrzeugs zu bestimmen, und
• die Beleuchtungseinheit derart zu steuern, dass die Beleuchtungseinheit dem entgegenkommenden Fahrzeug die vorgegebene Information in der bestimmten Anzeigesprache visuell präsentiert.

The lighting control unit is designed

• determine a display language of the predetermined information based on a current position of the vehicle, and
• to control the lighting unit in such a way that the lighting unit visually presents the predefined information to the oncoming vehicle in the specific display language.

According to the above constitution, the display language of the predetermined information is determined based on the current position of the vehicle, and then the predetermined information is visually presented to the oncoming vehicle in the predetermined display language. In this way, since the display language of the character information representing the predetermined information is associated with the current position of the vehicle, the possibility that the occupant of the oncoming vehicle can understand the predetermined information about the travel assistance of the oncoming vehicle can be increased. Therefore, the vehicle lighting system capable of realizing the extensive visual communication between vehicles can be provided.

The predetermined information can include the character information.

The lighting unit can be designed to visually present the predefined information to the oncoming vehicle in a plurality of display languages.

According to the above configuration, the predetermined information is visually presented to the oncoming vehicle in the plurality of display languages. In this way, the possibility can be increased that the occupant of the oncoming vehicle can understand the predetermined information about the locomotion assistance of the oncoming vehicle. Therefore, the vehicle lighting system capable of realizing the extensive visual communication between vehicles can be provided.

The lighting unit can be designed to visually present the predefined information on a road surface in front of the oncoming vehicle.

According to the above configuration, the predetermined information about the travel assistance of the oncoming vehicle is visually presented on the road surface in front of the oncoming vehicle. Since the occupant of the oncoming vehicle can visually recognize the predetermined information by looking at the road surface ahead, the vehicle lighting system capable of realizing the extensive visual communication between the vehicles can be provided.

The lighting control unit can be designed to wirelessly transmit the predefined information to the oncoming vehicle.

According to the above configuration, the predetermined information about the locomotion assistance of the oncoming vehicle is visually presented to the oncoming vehicle and is wirelessly transmitted to the oncoming vehicle. As described above, it is possible to increase the possibility that the occupant of the oncoming vehicle having the wireless communication function can recognize the predetermined information, and it is possible to provide a vehicle lighting system capable of extensive visual communication between to realize the vehicles.

• eine erste Beleuchtungseinheit, die ausgebildet ist, eine Mitteilung nach außerhalb eines Fahrzeugs visuell zu präsentieren;
• eine erste Beleuchtungssteuereinheit, die ausgebildet ist, die erste Beleuchtungseinheit zu steuern;
• eine zweite Beleuchtungseinheit, die ausgebildet ist, ein Lichtmuster zu einem Objekt zu emittieren, das außerhalb des Fahrzeugs anwesend ist; und
• eine zweite Beleuchtungssteuereinheit, die ausgebildet ist, die zweite Beleuchtungseinheit zu steuern.

A vehicle lighting system according to another aspect of the present disclosure is provided in a vehicle capable of moving in an automated driving mode and comprises:

• a first lighting unit configured to visually present a message to the outside of a vehicle;
• a first lighting control unit configured to control the first lighting unit;
• a second lighting unit configured to emit a light pattern to an object present outside the vehicle; and
• a second lighting control unit configured to control the second lighting unit.

The second lighting control unit is configured to control the second lighting unit in such a way that the second lighting unit emits the light pattern towards the object when the first lighting unit visually presents the message outside the vehicle.

According to the above configuration, the second lighting unit emits the light pattern toward the object when the first lighting unit visually presents the message outside the vehicle. Therefore, the object (e.g., a pedestrian or other vehicle) present outside the vehicle can and can notice the presence of the message presented by the vehicle by the light pattern emitted from the second lighting unit toward the object recognize that the message is a message presented by the vehicle to the object. In this way, the vehicle lighting system capable of realizing extensive visual communication between the vehicle and the object can be provided.

The second lighting unit can be designed to draw the light pattern on a road surface around the object.

The second lighting control unit may be configured to control the second lighting unit such that the second lighting unit draws the light pattern on the road surface around the object when the first lighting unit visually presents the message to the outside of the vehicle.

According to the above configuration, when the first lighting unit visually presents the message outside the vehicle, the second lighting unit draws the light pattern on the road surface around the object. Therefore, the object present outside the vehicle can notice the presence of the message presented by the vehicle by the light pattern, and can recognize that the message is a message presented by the vehicle to the object.

The light pattern can be a light pattern that visually associates the object with the vehicle.

According to the above configuration, the light pattern that the object visually associates with the vehicle is drawn on the road surface around the object when the first lighting unit visually presents the message outside the vehicle. Therefore, the object present outside the vehicle can intuitively recognize that the message from the vehicle is presented to the object through the light pattern.

The notification can be a notification that relates to an action by the vehicle or a notification that requests the object to perform a predetermined action.

According to the above constitution, the object present outside the vehicle can recognize an intention of the vehicle and feel safe by viewing the notification concerning the action of the vehicle (for example, a stop notification) or the notification prompting the object to perform the specified action (for example, a message prompting you to pass a pedestrian crossing).

A vehicle is provided that includes the vehicle lighting system.

According to the above constitution, the vehicle capable of realizing extensive visual communication can be provided.

• eine Beleuchtungseinheit, die ausgebildet ist, eine erste Mitteilung nach außerhalb eines Fahrzeugs visuell zu präsentieren;
• eine Beleuchtungssteuereinheit, die ausgebildet ist, die Beleuchtungseinheit zu steuern;
• eine Lichtaussendeeinheit, die ausgebildet ist, ein erstes Licht in einem ersten Wellenlängenband, das mit einer vorgegebenen Klangmitteilung assoziiert ist, zu einer Lichtempfangseinheit hin zu emittieren, die an einem weiteren Fahrzeug montiert ist, das außerhalb des Fahrzeugs anwesend ist; und
• eine Lichtaussendesteuereinheit, die ausgebildet ist, die Lichtaussendeeinheit zu steuern.

A vehicle system according to another aspect of the present disclosure is provided in a vehicle capable of traveling in an automated driving mode and comprises:

• a lighting unit configured to visually present a first message to the outside of a vehicle;
• a lighting control unit configured to control the lighting unit;
• a light emitting unit configured to emit a first light in a first wavelength band associated with a predetermined sound message to a light receiving unit mounted on another vehicle that is present outside the vehicle; and
• a light emitting control unit configured to control the light emitting unit.

The light emitting control unit is configured to control the light emitting unit such that the light emitting unit emits the first light to the light receiving unit when the lighting unit visually presents the first message outside the vehicle.

According to the above configuration, the first light is emitted to the light receiving unit mounted on another vehicle when the lighting unit visually presents the first message outside the vehicle. When the light receiving unit receives the first light, the predetermined sound message associated with the first wavelength band of the first light becomes within another vehicle issued. Therefore, an occupant of another vehicle can visually recognize the first message from the vehicle, and can hear the predetermined sound message from the vehicle. That is, the occupant of another vehicle can visually and hear an intention of the vehicle. Therefore, the vehicle system capable of realizing large-scale communication between vehicles by sight and hearing can be provided.

The lighting unit can be configured to visually present the first message to the outside of the vehicle by drawing a light pattern on a road surface.

According to the above constitution, the occupant of another vehicle can visually recognize the first message from the vehicle by looking at the light pattern drawn on the road surface.

The lighting unit can be designed to display the first message on a windshield of the vehicle.

According to the above constitution, the occupant of another vehicle can visually recognize the first message displayed on the windshield.

The lighting unit can be designed to visually present the first message outside of the vehicle by changing a lighting feature of the lighting unit.

According to the above configuration, the occupant of another vehicle can visually recognize the first message from the vehicle by observing a change in the lighting feature of the lighting unit.

• das erste Licht aus einer Mehrzahl von unterschiedlichen Lichtern in unterschiedlichen Wellenlängenbändern basierend auf der ersten Mitteilung zu bestimmen, und
• die Lichtaussendeeinheit derart zu steuern, dass das erste Licht zur Lichtempfangseinheit hin emittiert wird.

The light emission control unit can be designed

• determine the first light from a plurality of different lights in different wavelength bands based on the first notification, and
• control the light emitting unit such that the first light is emitted toward the light receiving unit.

According to the above configuration, the first light is determined from among the plurality of different lights in different wavelength bands based on the first notification, and then the first light is emitted to the light receiving unit mounted on another vehicle. When the light receiving unit receives the first light, the predetermined sound message associated with the first wavelength band of the first light is output to inside another vehicle. Thus, the occupant of another vehicle can visually recognize the first message, and can hear the predetermined sound message associated with (or corresponding to) the first message.

A vehicle is provided that includes the vehicle system.

According to the above constitution, the vehicle capable of realizing extensive inter-vehicle communication through sight and hearing can be provided.

• ein erstes Fahrzeug; und
• ein zweites Fahrzeug.

A vehicle-to-vehicle communication system according to one aspect of the present disclosure includes:

• a first vehicle; and
• a second vehicle.

• eine Beleuchtungseinheit, die ausgebildet ist, eine erste Mitteilung nach außerhalb des ersten Fahrzeugs visuell zu präsentieren;
• eine Beleuchtungssteuereinheit, die ausgebildet ist, die Beleuchtungseinheit zu steuern;
• eine Lichtaussendeeinheit, die ausgebildet ist, ein erstes Licht in einem ersten Wellenlängenband zum zweiten Fahrzeug hin zu emittieren; und
• eine Lichtaussendesteuereinheit, die ausgebildet ist, die Lichtaussendeeinheit zu steuern.

The first vehicle includes:

• a lighting unit configured to visually present a first message to the outside of the first vehicle;
• a lighting control unit configured to control the lighting unit;
• a light emitting unit configured to emit a first light in a first wavelength band toward the second vehicle; and
• a light emitting control unit configured to control the light emitting unit.

• eine Lichtempfangseinheit, die ausgebildet ist, das erste Licht zu empfangen;
• eine Lichtempfangssteuereinheit, die ausgebildet ist, eine vorgegebene Klangmitteilung, die mit dem ersten Wellenlängenband assoziiert ist, aus einer Mehrzahl von Klangmitteilungen zu spezifizieren; und
• einen fahrzeuginternen Lautsprecher, der ausgebildet ist, die spezifizierte vorgegebene Klangmitteilung an einen Insassen des zweiten Fahrzeugs auszugeben.

The second vehicle includes:

• a light receiving unit configured to receive the first light;
• a light reception control unit configured to specify a predetermined sound message associated with the first wavelength band from a plurality of sound messages; and
• an in-vehicle loudspeaker configured to output the specified predetermined sound message to an occupant of the second vehicle.

The light emitting control unit is configured to control the light emitting unit such that the light emitting unit emits the first light to the light receiving unit when the lighting unit visually presents the first message outside the first vehicle.

According to the above constitution, the first light is emitted to the light receiving unit mounted on the second vehicle when the lighting unit visually presents the first message outside the vehicle. When the light receiving unit receives the first light, the predetermined sound message associated with the first wavelength band of the first light is output from the in-vehicle speaker to an occupant of the second vehicle. Therefore, the occupant of the second vehicle can visually recognize the first message from the first vehicle, and can hear the predetermined sound message from the first vehicle. That is, the occupant of the second vehicle can visually and hear an intention of the first vehicle. Therefore, the inter-vehicle communication system capable of realizing extensive inter-vehicle communication by sight and hearing can be provided.

Figure list

• 1 Fig. 13 is a plan view of a vehicle equipped with a vehicle lighting system according to a first embodiment of the present invention.
• 2 Fig. 13 is a block diagram of a vehicle system including the vehicle lighting system according to the first embodiment.
• 3 Fig. 12 is a flowchart showing an example of processing for visually presenting information to an oncoming vehicle that prompts the oncoming vehicle to stop.
• 4th Fig. 13 is a view showing a viewed vehicle and the oncoming vehicle traveling on a narrow road.
• 5 Fig. 13 is a view showing an example of character information for causing the oncoming vehicle to stop.
• 6th Fig. 13 is a view showing an example of graphic information for causing the oncoming vehicle to stop.
• 7th Fig. 13 is a front view of a vehicle equipped with a vehicle lighting system according to a second embodiment of the present invention.
• 8th Fig. 13 is a block diagram of a vehicle system including the vehicle lighting system according to the second embodiment.
• 9 Fig. 13 is a block diagram showing a left communication support lamp and a right communication support lamp.
• 10 Fig. 13 is a flow chart showing an example of an operation of the vehicle lighting system according to the second embodiment.
• 11 Fig. 14 is a view showing how a vehicle emits a light pattern to a pedestrian who is present in a vicinity of a pedestrian crossing.
• 12th Fig. 13 is a view showing how the vehicle emits the light pattern to the pedestrian who is present in a vicinity of the pedestrian crossing.
• 13A Fig. 13 is a view showing the vehicle and the pedestrian who have stopped in front of the pedestrian crossing.
• 13B FIG. 13 is a view showing a lighting state of the left communication support lamp and the right communication support lamp in FIG 13A situation shown.
• 14th Fig. 13 is a view showing another example of the light pattern emitted from the vehicle.
• 15th Fig. 13 is a view showing an example of a message visually presented to a pedestrian by a first lighting unit according to a modification of the second embodiment.
• 16 Fig. 13 is a view showing another example of a message visually presented to the pedestrian by the first lighting unit according to the modification of the second embodiment.
• 17th Fig. 13 is a view showing how the vehicle emits a pattern of light toward the other vehicle that is about to turn right.
• 18th FIG. 13 is a view showing an example of a message visually presented to the other vehicle from the first lighting unit according to the modification of the second embodiment.
• 19A Fig. 13 is a front view of a vehicle equipped with a vehicle lighting system according to a third embodiment of the present invention.
• 19B Fig. 3 is a rear view of the vehicle.
• 20th Fig. 13 is a block diagram of the vehicle system according to the third embodiment.
• 21st Fig. 13 is a sequence diagram showing an example of the operation of an inter-vehicle communication system according to the third embodiment.
• 22nd Fig. 13 is a view showing a transmission-side vehicle drawing a light pattern on a road surface corresponding to a parking portion and a reception-side vehicle traveling in a parking lot.
• 23 Fig. 13 is a view showing a transmission-side vehicle and the reception-side vehicle about to leave the parking section.
• 24 Fig. 13 is a front view of a vehicle equipped with a lighting unit according to a first modification of the third embodiment.
• 25th Fig. 13 is a front view of a vehicle equipped with a lighting unit according to a second modification of the third embodiment.

DESCRIPTION OF EMBODIMENTS

(First embodiment)

A first embodiment of the present invention will be described hereinafter with reference to the drawings. The descriptions of elements that have the same reference numerals as those already described in the description of the present embodiment are omitted for the convenience of description. Dimensions of elements shown in the drawings may differ from those of actual elements for ease of description.

In the description of the embodiment, a “left-right direction”, a “front-back direction” and an “up-down direction” are referred to accordingly for ease of description. These directions are relative directions common to one in the 1 shown vehicle 1 be determined. Here, the “front-back direction” is a direction that includes a “forward direction” and a “rearward direction”. The “left-right direction” is a direction that includes a “left direction” and a “right direction”. The “up-down direction” is a direction that includes an “up direction” and a “down direction”. Although this is not in 1 as shown, the up-down direction is the direction orthogonal to the left-right direction and the front-back direction.

First is a vehicle lighting system 4th (hereinafter referred to simply as “lighting system 4”) according to the present embodiment below with reference to FIG 1 and 2 described. 1 Fig. 3 is a plan view of a vehicle 1 that with the lighting system 4th Is provided. The vehicle 1 is a vehicle (automobile) capable of traveling in an automated driving mode and includes the lighting system 4th . The lighting system 4th includes a lighting unit 42 and a lighting control unit 43 (please refer 2 ). The lighting unit 42 is for example on a vehicle body roof 110A of the vehicle 1 arranged and is formed, a light pattern (in particular, a light pattern formed on a road surface by laser light) to the outside of the vehicle 1 to emit.

The lighting unit 42 includes, for example, a laser light source configured to emit laser light, a light deflector configured to deflect the laser light emitted from the laser light source, and an optical system such as a lens. The laser light source is, for example, an RGB laser light source which is designed to emit red laser light, green laser light and blue laser light. The light deflection device is, for example, a microelectromechanical system mirror (microelectromechanical systems, MEMS), a galvanometer mirror, a polygon mirror or the like. As will be described below, presents the lighting unit 42 the light pattern (for example, a light pattern M1 , the character information stored in 5 shown, or a light pattern M2 , the graphic information stored in 6th is shown) visually other vehicles (especially an oncoming vehicle) by scanning with the laser light. In particular, the lighting unit presents 42 the light pattern on the road surface in front of the oncoming vehicle by scanning with the laser light. When the laser light source is the RGB laser light source, the lighting system can 4th draw the light pattern with different colors on a road.

Although a single lighting unit in the present embodiment 42 on the vehicle body roof 110A is arranged are the number, arrangement, shape and the like of the lighting unit 42 not particularly limited as long as the lighting unit 42 can emit the light pattern towards an object. For example, if two lighting units 42 are provided, one of the two lighting units 42 in a left headlight 20L be mounted, and the other can be in a right headlight 20R be mounted. If four lighting units 42 are provided, a lighting unit 42 in each of the left headlights 20L , the right headlight 20R , one left rear Combination lamp 30L and a right rear combination lamp 30R be mounted. A drawing method of the lighting unit 42 can be a digital light processing (DLP) or a liquid crystal on silicon (LCOS) process. In this case, an LED is used as a light source instead of a laser.

Next is a vehicle system 2 of the vehicle 1 with reference to 2 described. 2 Figure 3 shows a block diagram of the vehicle system 2 . As in 2 is shown includes the vehicle system 2 a vehicle control unit 3 , the lighting system 4th , a sensor 5 , a camera 6th , a radar 7th , a man-machine interface 8th (human machine interface, HMI), a global positioning system (GPS) 9 , a wireless communication unit 10 and a storage device 11 . The vehicle system 2 further comprises a steering actuator 12th , a steering device 13 , a brake actuator 14th , a braking device 15th , an accelerator actuator 16 and an accelerator device 17th .

The vehicle control unit 3 is designed to move the vehicle 1 to control. The vehicle control unit 3 is built up, for example, from at least one electronic control device (ECU). The electronic control device includes a computer system (for example, a system on a chip (SoC)) that includes one or more processors and one or more memories, and electronic circuit that includes an active element such as a transistor, and comprises a passive element. The processor is, for example, a central processing unit (CPU), a micro-processing unit (MPU), a graphics processing unit (GPU) and / or a tensor processing unit (TPU). The CPU can include a plurality of CPU cores. The GPU can include a plurality of GPU cores. The memory includes read only memory (ROM) and random access memory (RAM). The ROM can store a vehicle control program. For example, the vehicle control program can include an artificial intelligence (AI) program for automated driving. The AI program is a program constructed through supervised or unsupervised machine learning (especially deep learning) using a multi-layer neural network. The RAM can temporarily store a vehicle control program, vehicle control data and / or surrounding environment information which indicate the surrounding environment of the vehicle. The processor can be configured to load a program, which is determined from various vehicle control programs stored in the ROM, into the RAM and to carry out various types of processing in cooperation with the RAM. The computer system may include a non-von-Neumann-type computer such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA). Furthermore, the computer system can comprise a combination of a von-Neumann-type computer and a non-von-Neumann-type computer.

The lighting system 4th is formed, the laser light (the light pattern) to the outside of the vehicle 1 (for example to other vehicles), and includes the lighting unit 42 and the lighting control unit 43 . The lighting control unit 43 is designed to control the lighting unit 42 to control, and is formed of an electronic control device (ECU). The electronic control device comprises a computer system (for example a SoC) which comprises one or more processors and one or more memories, a laser light source control circuit (an analog processing circuit) which is designed to control the laser light source of the lighting unit 42 and a light deflecting device control circuit (an analog processing circuit) configured to drive the light deflecting device of the lighting unit 42 to control. The processor is, for example, a CPU, an MPU, a GPU and / or a TPU. The memory includes a ROM and a RAM. The computer system may include a non-von-Neumann-type computer such as an ASIC or an FPGA. In the present embodiment, the vehicle control units are 3 and the lighting control unit 43 provided as separate components, however, the vehicle control unit 3 and the lighting control unit 43 be formed in one piece. In this regard, the lighting control unit 43 and the vehicle control unit 3 be formed from a single electronic control device.

For example, the computer system specifies the lighting control unit 43 the outside of the vehicle 1 light patterns to be emitted based on a command signal received from the vehicle control unit 3 is transmitted, and then transmits a signal indicative of the specified light pattern to the laser light source control circuit and the light deflector control circuit. The laser light source control circuit generates a control signal for controlling the driving of the laser light source based on the signal indicating the light pattern, and then transmits the generated control signal to the laser light source of the lighting unit 42 . On the other hand, the light deflector control circuit generates a control signal for controlling the drive of the light deflecting device based on the signal indicating the light pattern, and then transmits the generated control signal to the light deflecting device of the lighting unit 42 . In this way, the lighting control unit 43 the control of the lighting unit 42 Taxes.

The sensor 5 includes an acceleration sensor, a speed sensor, a gyro sensor, and the like. The sensor 5 is designed to indicate a state of movement of the vehicle 1 to detect and forward state information to the vehicle control unit 3 to spend. The sensor 5 a seat sensor that detects whether a driver is sitting in a driver's seat, a face direction sensor that detects a direction of a face of the driver, an outdoor weather sensor that detects an outdoor weather condition, a human sensor that detects whether a person is in the vehicle, or the like.

The camera 6th For example, a camera that includes an image sensor, such as a charge-coupled device (CCD) or a complementary metal-oxide semiconductor (complementary MOS, CMOS). The camera 6th can in the left headlight 20L and the right headlight 20R be mounted. For example, as in 1 is shown the camera 6th a left front camera 60L that is in the left headlight 20L mounted and formed a front portion of the vehicle 1 and a left side camera 62L include those in the left headlight 20L is mounted and formed, a side area of the vehicle 1 record. The camera 6th can also have a right front camera 60R that in the right headlight 20R mounted and formed a front portion of the vehicle 1 and a right side camera 62R include that in the right headlight 20R is mounted and formed, a side area of the vehicle 1 record.

The radar 7th is for example a millimeter wave radar, a microwave radar and / or a laser radar (for example a lidar). The camera 6th and / or the radar 7th are designed the surrounding environment of the vehicle 1 (other vehicles, pedestrians, road shapes, traffic signs, obstacles and the like) and the surrounding environment information, the surrounding environment of the vehicle 1 to the vehicle control unit 3 to spend.

The HMI 8th comprises an input unit that receives an input operation from a driver and an output unit that outputs travel information and the like to the driver. The input unit includes a steering wheel, an accelerator pedal, a brake pedal, a driving mode switching switch, which indicates a driving mode of the vehicle 1 switches, and the like. The output unit is a display that displays various types of travel information. The GPS 9 is designed to present current position information of the vehicle 1 to acquire and the acquired current position information to the vehicle control unit 3 to spend.

The wireless communication unit 10 is designed to provide information about other vehicles around the vehicle 1 (for example, travel information) around from other vehicles and receive information (for example, travel information) about the vehicle 1 to be transmitted to other vehicles (vehicle-to-vehicle communication). The wireless communication unit 10 is designed to receive infrastructure information from an infrastructure device such as a traffic light or an indicator lamp, and the locomotion information about the vehicle 1 to be transmitted to the infrastructure facility (road-vehicle communication). The wireless communication unit 10 is configured to receive information about a pedestrian from a portable electronic device (a smartphone, a tablet, a wearable or the like) carried by the pedestrian, and the viewed vehicle travel information about the vehicle 1 to the portable electronic device (pedestrian-vehicle communication). The vehicle 1 can communicate directly with other vehicles, the infrastructure facility, or the portable electronic device in an ad hoc mode, or can communicate through an access point. The vehicle 1 can communicate with other vehicles, the infrastructure facility, or the portable electronic device over a communication network such as the Internet (not shown). A wireless communication standard is for example Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), IPWA, DSRC (registered trademark) or Li-Fi. The vehicle 1 can communicate with other vehicles, the infrastructure facility, or the portable electronic device using a fifth generation (5G) cellular communication system.

The storage device 11 is an external storage device such as a hard disk drive (HDD) or a solid-state disk (SSD). The storage device 11 can store 2D or 3D map information and / or a vehicle control program. For example, the 3D map information can include point cloud data. The storage device 11 is designed to send the map information and the vehicle control program to the vehicle control unit 3 in response to a request from the Vehicle control unit 3 to spend. The map information and the vehicle control program can be accessed through the wireless communication unit 10 and a communication network such as the Internet can be updated.

When the vehicle 1 Moved in automated driving mode, the vehicle control unit generates 3 automatically at least one of the steering control signal, the accelerator control signal, and the brake control signal based on the traveling state information, the surrounding area information, the current position information, the map information, and the like. The steering actuator 12th is configured to receive the steering control signal from the vehicle control unit 3 to receive and the steering device 13 based on the received steering control signal. The brake actuator 14th is configured to receive the brake control signal from the vehicle control unit 3 to receive and the braking device 15th based on the received brake control signal. The accelerator actuator 16 is configured to receive the accelerator control signal from the vehicle control unit 3 to receive and the accelerator device 17th based on the received accelerator control signal. In this way, the vehicle's locomotion is controlled in the automated driving mode 1 automatically by the vehicle system 2 controlled.

On the other hand, if the vehicle 1 moved in a manual drive mode, the vehicle control unit generates 3 the steering control signal, the accelerator control signal, and the brake control signal in accordance with manual operation of the driver on the accelerator pedal, the brake pedal, and the steering wheel. In this way, the vehicle is moving in manual driving mode 1 controlled by the driver since the steering control signal, the accelerator control signal and the brake control signal are generated by the manual operation of the driver.

Next becomes a driving mode of the vehicle 1 described. The driving mode includes the automated driving mode and the manual driving mode. The automated driving mode includes a fully automated driving mode, an advanced driving support mode, and a driving support mode. In the fully automated driving mode, the vehicle system leads 2 automatically performs any locomotion control including steering control, brake control, and accelerator control, and the driver can control the vehicle 1 not driving. In the advanced driving support mode, the vehicle system guides 2 automatically performs any locomotion control including steering control, brake control, and accelerator control, and the driver can control the vehicle 1 drive, the vehicle drives 1 However not. In driving assistance mode, the vehicle system guides 2 automatically performs part of the locomotion control including steering control, brake control and accelerator control, and the driver drives the vehicle 1 with the driving support of the vehicle system 2 . In the manual driving mode, on the other hand, the vehicle system leads 2 does not automatically turn off locomotion control and the driver drives the vehicle 1 without the driving assistance of the vehicle system 2 .

The driving mode of the vehicle 1 can be switched by pressing the driving mode switch. In this case, the vehicle control unit switches 3 the driving mode of the vehicle 1 according to an operation of the driver on the driving mode switching switch among four driving modes (the fully automated driving mode, the advanced driving support mode, the driving support mode and the manual driving mode). The driving mode of the vehicle 1 can be automatically switched based on information on a section suitable for locomotion in which an automated driving vehicle can move, or a section prohibited for locomotion in which the locomotion of the automated vehicle is prohibited, or information on the outside weather condition . In this case, the vehicle control unit switches 3 the driving mode of the vehicle 1 based on these pieces of information. The driving mode of the vehicle 1 can be switched automatically using the seat sensor, the face direction sensor, or the like. In this case, the vehicle control unit switches 3 the driving mode of the vehicle 1 based on a signal output from the seat sensor or the face direction sensor.

Next, an example of a control method of the lighting system will be explained 4th according to the present embodiment below with reference to FIG 3 and 4th described. 3 Fig. 13 is a flowchart showing an example of processing to notify an oncoming vehicle 1A Visually present information to the oncoming vehicle 1A asks to stop. 4th is a view showing the vehicle 1 (the vehicle under consideration) and the oncoming vehicle 1A R shows when moving on a narrow road. In the present description, the vehicle is moving 1 in automated driving mode. The oncoming vehicle 1A can be a manually driving vehicle or an automated driving vehicle.

As in 3 is shown, first detects the vehicle control unit 3 of the vehicle 1 the oncoming vehicle 1A that is in the front of the vehicle 1 is present based on image data received from the camera 6th and / or detection data (e.g. point cloud data) obtained from the radar 7th were recorded (step S1 ). Next specified in step S2 the vehicle control unit 3 a vehicle width w1 (see 4th ) of the oncoming vehicle 1A based on the image data received from the camera 6th were captured (specifically by the left front camera 60L and the right front camera 60R ), and / or the detection data provided by the radar 7th were recorded. The vehicle width w1 of the oncoming vehicle can be used here 1A as a distance from a left end to a right end of the oncoming vehicle 1A To be defined. Especially when the oncoming vehicle 1A Includes side mirrors, the vehicle width w1 of the oncoming vehicle 1A as a distance from an end portion of the left side mirror of the oncoming vehicle 1A to an end portion of the right side mirror of the oncoming vehicle 1A To be defined.

Next specified in step S3 the vehicle control unit 3 a road width w2 in a right side area of the vehicle 1 (of the vehicle being viewed) based on the image data received from the camera 6th were captured (specifically by the right side camera 62R on one side of the oncoming vehicle), and / or the detection data provided by the radar 7th were recorded. Here, the road width w2 in the right lateral area can be expressed as a distance from a right end of the vehicle 1 (an end portion of the mirror on the right when the vehicle 1 Side mirror) to a right guardrail G1 To be defined. When a guardrail is not installed on the road R, the road width w2 can be taken as a distance from the right end of the vehicle 1 to an obstacle (for example, a fence of a private house or a power pole).

Next determined in step S4 the vehicle control unit 3 whether the vehicle width w1 of the oncoming vehicle 1A greater than or equal to the street width w2 in the right side area of the vehicle 1 is. When the vehicle control unit 3 determines that the vehicle width w1 is smaller than the road width w2 (NO in step S4 ), processing ends. On the other hand, if the vehicle control unit 3 determines that the vehicle width w1 is greater than or equal to the road width w2 (YES in step S4 ), the editing is done in step S5 executed.

Next emitted in step S5 the lighting unit 42 Laser light to the oncoming vehicle 1A out to the oncoming vehicle 1A Visually present the information (a light pattern) to the oncoming vehicle 1A asks to stop. In particular, the lighting unit draws 42 the information (the light pattern) that the oncoming vehicle 1A prompts you to stop on a road surface in front of the oncoming vehicle 1A by directing the laser light onto the road surface in front of the oncoming vehicle 1A emitted. The information given by the oncoming vehicle 1A prompting to stop may include at least one of the character information and the graphic information. For example, as in 5 shown is the lighting unit 42 the light pattern M1 , which shows the sign information “No Passing By”, on the road surface in front of the oncoming vehicle 1A as the information that the oncoming vehicle draws 1A asks to stop. As in 6th shown, the lighting unit 42 the light pattern M2 showing a stop line (an example of the graphic information) on the road surface in front of the oncoming vehicle 1A as the information that the oncoming vehicle draws 1A asks to stop. The graphic information and the character information that the oncoming vehicle 1A prompting to stop are not limited to the examples shown in the 5 and 6th to be shown.

If you specifically describe the processing in step S5 When determining that the vehicle width w1 is greater than or equal to the road width w2, the vehicle control unit generates 3 a command signal that commands the emission of a predetermined pattern of light which the oncoming vehicle 1A requests to stop, and then it transmits the command signal and the position information of the oncoming vehicle 1A to the lighting control unit 43 . According to that from the vehicle control unit 3 received command signal next controls the lighting control unit 43 the lighting unit 42 such that the predetermined light pattern that the oncoming vehicle 1A to stop, onto the road surface in front of the oncoming vehicle 1A is drawn. In particular, the light deflection device of the lighting unit scans 42 the road surface in front of the oncoming vehicle 1A with the laser light emitted from the laser light source. Thus, the predetermined light pattern is on the road surface in front of the oncoming vehicle 1A drawn.

According to the present embodiment, based on the vehicle width w1 des oncoming vehicle 1 that is in front of the vehicle 1 is present, and the road width w2 in the right side area of the vehicle 1 the information given by the oncoming vehicle 1A prompts you to stop, on the road surface in front of the oncoming vehicle 1A as information about the locomotion assistance of the oncoming vehicle 1A presented visually. As an occupant of the oncoming vehicle 1A the information given by the oncoming vehicle 1A prompts to stop, can visually recognize the lighting system 4th capable of realizing extensive visual communication between vehicles.

When the vehicle width w1 of the oncoming vehicle 1A is greater than or equal to the road width w2, particularly according to the present embodiment, the information that the oncoming vehicle 1A prompts the oncoming vehicle to stop 1A presented visually. This allows the occupant of the oncoming vehicle 1A recognize that the oncoming vehicle 1A should be stopped so that the two vehicles can pass each other without difficulty (such as contact between the two vehicles). Thus, in a situation where it is difficult for the two vehicles to pass each other, the extensive communication between the vehicles can be realized.

The vehicle 1 can increase the road width w2 so that the vehicle width 1 of the oncoming vehicle 1A smaller than the road width w2 is by being the oncoming vehicle 1A the information is visually presented to the oncoming vehicle 1A prompts you to stop, and then a distance between a left end of the vehicle 1 and a left guard rail G2 scaled down. If then the vehicle control unit 3 determines that the vehicle width w1 is smaller than the road width w2, the vehicle can 1 on the oncoming vehicle 1A drive past. On the other hand, if the vehicle control unit 3 determines that it is for the vehicle 1 and the oncoming vehicle 1A is difficult to pass each other even if the road width w2 is made by narrowing the distance between the left end of the vehicle 1 and the left guard rail G2 is increased, the vehicle can 1 be moved backwards to a predetermined retraction position.

In the description of the present embodiment, the processing in step S4 through the vehicle control unit 3 but processing in step S4 through the lighting control unit 43 are executed. In this case, the vehicle control unit 3 Information about the vehicle width w1 of the oncoming vehicle 1A and information on the road width w2 to the lighting control unit 43 transfer. When processing in step S4 it is determined whether the vehicle width w1 of the oncoming vehicle 1A is greater than or equal to the road width w2, however, the present embodiment is not limited thereto. For example, it can be determined whether a value (w1 + a) obtained by adding a predetermined margin a to the vehicle width w1 is greater than or equal to the road width w2. Here, the margin a can be appropriately set depending on conditions such as the road environment, a type of vehicle and / or the automated driving mode.

Although in the present embodiment the lighting system 4th the oncoming vehicle 1A the information is visually presented to the oncoming vehicle 1A prompts you to stop, the lighting system can 4th the oncoming vehicle 1A other information about the oncoming vehicle's locomotion assistance 1A present visually, instead of the information given to the oncoming vehicle 1A asks to stop. For example, the lighting system 4th the oncoming vehicle 1A Present information indicating the level of difficulty in making the vehicle 1 and the oncoming vehicle 1A drive past each other. As an example of the information that indicates the level of difficulty of having the vehicle 1 and the oncoming vehicle 1A pass each other, the graphic information can be drawn on the road surface indicating a plurality of stars. For example, if the difficulty of driving past each other is the highest, five solid stars can be drawn on the road surface. On the other hand, if the difficulty level of driving past each other is the lowest, four white star marks and one solid star mark can be drawn on the road surface. The lighting system 4th can be numerical information indicating the vehicle width w1 of the oncoming vehicle 1A drawing on the road surface along with the information that the oncoming vehicle indicates 1A asks to stop. The lighting system 4th can be numerical information (w1 + a) obtained by adding the predetermined margin a to the vehicle width w1 of the oncoming vehicle 1A draw on the road surface.

In step S5 can the lighting control unit 43 a display language of the character information about the locomotion assistance of the oncoming vehicle 1A (including the character information that the oncoming vehicle 1A requests to stop) based on the information about a current position of the vehicle 1 determine by the GPS 9 is captured. Thus, the lighting control unit can 43 the lighting unit 42 control so that the character information about the locomotion assistance of the oncoming vehicle 1A the oncoming vehicle 1A is presented visually in the specified display language. For example, if the vehicle 1 is located in Japan, a light pattern indicating “No Passing By” (Japanese) can be drawn on the road surface as the character information that the oncoming vehicle is 1A asks to stop. When the vehicle 1 If you are in an English-speaking area, a light pattern indicating “No traffic” may be drawn on the road surface. When the vehicle 1 Located in a French-speaking area, a light pattern that indicates “Pas de trafic” (French) can be drawn on the road surface. In this case, laser drawing data of the light pattern that displays the drawing information that prompts the oncoming vehicle to stop for each display language can be stored in the memory of the lighting control unit 43 be saved.

In this way, the display language of the character information becomes about the advancement assistance of the oncoming vehicle 1A based on the current location of the vehicle 1 is determined, and then the character information is given to the oncoming vehicle 1A presented visually in the specified display language. As the display language of the character information with the current position of the vehicle 1 is associated, therefore, the possibility of the occupant of the oncoming vehicle can be increased 1A by the vehicle 1 can understand visually presented character information, and thus the extensive visual communication between vehicles can be realized.

In step S5 can the lighting unit 42 the oncoming vehicle 1A the character information about the locomotion assistance of the oncoming vehicle 1A Present visually in a variety of display languages. For example, if the vehicle 1 located in Japan, the lighting unit draws 42 First, the light pattern that indicates “No Passing By” (Japanese) appears on the road surface as the character information that the oncoming vehicle is 1A asks to stop. After a predetermined period of time has elapsed, the lighting unit can 42 Draw the light pattern that indicates “No traffic” on the road surface as the sign information that the oncoming vehicle will tell 1A asks to stop. The character information displayed by the plurality of display languages can be switched in a predetermined cycle, or the character information displayed by the plurality of display languages can be displayed on the road surface at the same time.

Because the character information about the locomotion assistance of the oncoming vehicle 1A the oncoming vehicle 1A is presented visually in the plurality of display languages, the possibility that the occupant of the oncoming vehicle can be increased 1A can understand the character information about the locomotion assistance of the oncoming vehicle. In particular, in a case of a region in which a plurality of languages are used, it is preferable that the character information is about the travel assistance of the oncoming vehicle 1A is presented visually in the majority of display languages.

When the oncoming vehicle 1A has a wireless communication function, transmits in step S5 the lighting control unit 43 or the vehicle control unit 3 the information about the locomotion assistance of the oncoming vehicle 1A (including the information that the oncoming vehicle 1A requests to stop) wirelessly to the oncoming vehicle 1A via the wireless communication unit 10 . In this case the vehicle can 1 the information directly to the oncoming vehicle 1A in ad hoc mode, or can transmit the information to the oncoming vehicle 1A transmitted via the access point. The vehicle 1 can transmit the information to a server existing in the communication network via the communication network such as the Internet. In this case, the oncoming vehicle can 1 the above, from the vehicle 1 Record transmitted information by regularly accessing the server. The oncoming vehicle 1A can be visual or audible from the vehicle 1 transmitted information to the occupant of the oncoming vehicle 1A present. Specifically, a display device that is inside the oncoming vehicle 1A installed by the vehicle 1 show transferred information. The in-vehicle speaker that is inside the oncoming vehicle 1A installed, the vehicle can 1 Output transmitted information as a voice instruction.

As the information about the locomotion assistance of the oncoming vehicle 1A the oncoming vehicle 1A is presented visually and the information wirelessly to the oncoming vehicle 1A is transmitted, in this way the possibility can be increased that the occupant of the oncoming vehicle 1A that has the wireless communication function that can recognize information. This enables extensive communication between the vehicles to be realized.

In the present embodiment, the light pattern is applied to the road surface in front of the oncoming vehicle 1A as the information about the locomotion assistance of the oncoming vehicle 1A drawn (including the information that the oncoming vehicle 1A prompts you to stop), but the present embodiment is not limited to this. For example, the light pattern can be on a part (for example a windshield) of a vehicle body of the oncoming vehicle 1A be drawn. In this case it is the windshield of the oncoming vehicle 1A a windshield for a head-up display (HUD), and may include a light-emitting layer formed of two glass plates and a phosphor material provided between the two glass plates. The laser light source of the lighting unit 42 can be designed to emit laser light in a short wavelength band (for example a wavelength λ = 350 nm to 410 nm). When the windshield of the oncoming vehicle 1A with which laser light in the short wavelength band is irradiated, the light emitting layer of the windshield emits light, and a predetermined light pattern is formed on the windshield.

(Second embodiment)

Next, a second embodiment of the present invention will be described with reference to the drawings. The descriptions of elements that have the same reference numerals as those already described in the description of the present embodiment are omitted for the convenience of description. Dimensions of elements shown in the drawings may differ from those of actual elements for ease of description.

In the description of this embodiment, a “left-right direction”, an “up-down direction”, and a “front-back direction” are referred to accordingly for ease of description. These directions are relative directions common to one in the 7th shown vehicle 100 be determined. Here, the “left-right direction” is a direction that includes a “left direction” and a “right direction”. The “up-down direction” is a direction that includes an “up direction” and a “down direction”. The “front-back direction” is a direction that includes a “forward direction” and a “backward direction”. Although this is not in 7th as shown, the front-back direction is the direction orthogonal to the left-right direction and the top-bottom direction.

First is a vehicle lighting system 104 (hereinafter referred to simply as “lighting system 104”) according to the present embodiment with reference to FIG 7th and 8th described. 7th Fig. 3 is a front view of the vehicle 100 that with the lighting system 104 Is provided. 8th Figure 3 is a block diagram of a vehicle system 102 that the lighting system 104 includes. The vehicle 100 is a vehicle (an automobile) capable of traveling in an automated driving mode, and includes the vehicle system 102 .

As in the 7th and 8th shown comprises the lighting system 104 a first lighting unit 144 , a second lighting unit 142 , a first lighting control unit 147 and a second lighting control unit 145 . The first lighting unit 144 is a lamp that provides visual communication between an object, such as a pedestrian or other vehicles, and the vehicle 100 supports, and is designed to send a message outside the vehicle 100 present visually. The first lighting unit 144 includes a left communication support lamp 140L (hereinafter referred to simply as a "Left CSL 140L") and a right communication support lamp 140R (hereinafter referred to simply as a "Right CSL 140R").

The left CSL 140L is designed to light outside the vehicle 100 to emit, and is in a lamp chamber of a left headlamp 120L arranged on a left front side of the vehicle 100 is mounted so that it is in front of the vehicle 100 is visible. The lamp chamber of the left headlight 120L is formed by a lamp housing (not shown) and a translucent cover (not shown) connected to the lamp housing. The left CSL 140L is arranged so that it moves in the left-right direction of the vehicle 100 extends, and includes six light emitting segments 143L . The six light emission segments 143L are side by side in the left-right direction of the vehicle 100 arranged. As in 9 particularly includes each light emitting segment 143L a red LED 400a that is configured to emit red light, a green LED 400b that is configured to emit green light and a blue LED 400c that is configured to emit blue light. Then the red LED 400a , the green LED 400b and the blue LED 400c collectively simply as an LED for ease of description 400 are designated. The left headlight 120L includes a low beam lamp 160L that is designed to put a low beam in front of the vehicle 100 to emit, and a high beam lamp 170L that is designed to put a high beam in front of the vehicle 100 to emit.

The right CSL 140R is designed to light outside the vehicle 100 to emit, and is in a lamp chamber of a right headlight 120R arranged on a right front side of the vehicle 100 is mounted so that it is in front of the vehicle 100 is visible. The lamp chamber of the right headlight 120R is formed by a lamp housing (not shown) and a translucent cover (not shown) connected to the lamp housing. The right CSL 140R is arranged so that it moves in the left-right direction of the vehicle 100 extends, and includes six light emitting segments 143R . The six light emission segments 143R are side by side in the left-right direction of the vehicle 100 arranged. Any light emission segment 143R includes a red LED 400a , a green LED 400b and a blue LED 400c (please refer 9 ). The right headlight 120R includes a low beam lamp 160R that is designed to put a low beam in front of the vehicle 100 to emit, and a high beam lamp 170R that is designed to put a high beam in front of the vehicle 100 to emit.

Arrangement positions of the left CSL 140L and the right CSL 140R are not particularly limited as long as they are from in front of the vehicle 100 are visible. For example, the left CSL 140L in an area outside the left headlight 120L (For example in the area around the left headlight 120L) be arranged, or can be on a grille 140 of the vehicle 100 be arranged. The right CSL 140R can be in an area outside the right headlight 120R (for example in the vicinity of the right headlight 120R) be arranged, or can be on the grille 140 be arranged. In the present embodiment, the left includes CSL 140L six light emission segments 143L , however, is the number of light emitting segments 143L not particularly limited. Similarly, the right includes CSL 140R six light emission segments 143R , however, is the number of light emitting segments 143R not particularly limited.

The right lighting unit 142 is for example on a vehicle body roof 160 of the vehicle 100 arranged and is formed, a light pattern (in particular, a light pattern formed on a road surface by laser light) to the outside of the vehicle 100 (especially outside the vehicle 100 object present) to emit. The second lighting unit 142 includes, for example, a laser light source configured to emit the laser light, a light deflecting device configured to deflect the laser light emitted from the laser light source, and an optical system element such as a lens. The laser light source is, for example, an RGB laser light source which is designed to emit red laser light, green laser light and blue laser light. The light deflection device is, for example, a MEMS mirror, a galvanometer mirror, a polygon mirror or the like. As will be described below, the second lighting unit presents 142 the object by scanning the light pattern with the laser light. In particular, the second lighting unit draws 142 the light pattern on the road surface around the object by scanning with the laser light. When the laser light source is the RGB laser light source, the second lighting unit can 142 draw the light pattern with different colors on a road.

Although in the present embodiment a single second lighting unit 142 on the vehicle body roof 160 are the number, arrangement, shape and the like of the second lighting unit 142 not particularly limited as long as the second lighting unit 142 the light pattern can emit towards the object. For example, if two second lighting units 142 are provided, one of the two second lighting units 142 in the left headlight 120L be mounted, and the other can be in the right headlight 120R be mounted. If four second lighting units 142 are provided, a second lighting unit 142 in each of the left headlights 120L , the right headlight 120R , a left rear combination lamp (not shown) and a right rear combination lamp (not shown) may be mounted. A drawing method of the second lighting unit 142 can be a DLP process or an LCOS process. In this case, an LED is used as a light source instead of a laser.

Next is the vehicle system 102 of the vehicle 100 with reference to 8th described. 8th Figure 3 shows a block diagram of the vehicle system 102 . As in 8th is shown includes the vehicle system 102 a vehicle control unit 103 , the lighting system 104 , the sensor 5 , the camera 6th , the radar 7th who have favourited the HMI 8th , the GPS 9 , the wireless communication unit 10 and the storage device 11 . The vehicle system 102 also includes the steering actuator 12th , the steering device 13 , the brake actuator 14th who have favourited the braking device 15th , the accelerator actuator 16 and the accelerator device 17th .

The vehicle control unit 103 is designed to move the vehicle 100 to control. The vehicle control unit 103 is built up, for example, from at least one electronic control device (ECU). The electronic control device includes a computer system (e.g., a SoC) that includes one or more processors and one or more memories, and an electronic circuit that includes an active element such as a transistor and a passive element. The processor is, for example, a CPU, an MPU, a GPU and / or a TPU. The CPU can include a plurality of CPU cores. The GPU can include a plurality of GPU cores. The memory includes a ROM and a RAM. The ROM can store a vehicle control program. For example, the vehicle control program can include an artificial intelligence (AI) program for automated driving. The AI program is a program constructed through supervised or unsupervised machine learning (especially deep learning) using a multi-layer neural network. The RAM can temporarily store a vehicle control program, vehicle control data and / or surrounding environment information which indicate the surrounding environment of the vehicle. The processor can be configured to load a program, which is determined from various vehicle control programs stored in the ROM, into the RAM and to carry out various types of processing in cooperation with the RAM. The computer system may include a non-von-Neumann-type computer such as an ASIC or an FPGA. Furthermore, the computer system can comprise a combination of a von-Neumann-type computer and a non-von-Neumann-type computer.

As described above, the lighting system includes 104 the first lighting unit 144 , the second lighting unit 142 , the first lighting control unit 147 and the second lighting control unit 145 . The first lighting control unit 147 is formed, the first lighting unit 144 (especially the left CSL 140L and the right CSL 140R) to control. In particular, is the first lighting control unit 147 is formed, a lighting state (for example, the lighting color, the lighting intensity, the blinking cycle, the lighting point, and the lighting area) of the left CSL 140L and the right CSL 140R to control.

The first lighting control unit 147 is formed from an electronic control device (ECU) and is electrically connected to a power supply (not shown). The electronic control device includes a computer system (e.g., a SoC) that includes one or more processors and one or more memories, and analog processing circuitry that includes an active element such as a transistor and a passive element. The processor is, for example, a CPU, an MPU, a GPU and / or a TPU. The memory includes a ROM and a RAM. The computer system may include a non-von-Neumann-type computer such as an ASIC or an FPGA. The analog processing circuit comprises a lamp control circuit (for example an LED control) which is designed to control the left CSL 140L and the right CSL 140R to control.

For example, the first lighting control unit is 147 with the LEDs 400 (please refer 9 ) each of the light emitting segments 143L and 143R electrically connected. For example, if one of the six light emitting segments 143L emits red light, supplies the first lighting control unit 147 an electrical signal (e.g. a PWM signal) to the red LED 400a leading to the one light emission segment 143L heard. Then the red LED emits 400a the red light according to the electrical signal received from the first lighting control unit 147 was delivered. In this way, the red light is emitted from the light emitting segment 143L emitted. When all six light emission segments 143L emit white light, provides the first lighting control unit 147 an electrical signal to the red LED 400a , the green LED 400b and the blue LED 400c those to each light emission segment 143L heard. Then white light is created by adding red light coming from the red LED 400a Green light emitted by the green LED 400b and blue light coming from the blue LED 400c is emitted, can be combined. In this way, the white light will be from all six light emitting segments 143L emitted. The first lighting control unit 147 can allow light of different colors from each light emitting segment 143L is emitted by passing it to each LED 400 supplied electrical signal adjusted.

In this way, the first lighting control unit 147 a lighting state (e.g., the lighting color, the lighting intensity, and the blinking cycle) of each light emission segment 143L change the lighting of each LED individually 400 controls that to each light emitting segment 143L heard (that is, by sending the electrical signal to each LED 400 supplies).

The second lighting control unit 145 is formed, the second lighting unit 142 to control. The second lighting control unit 145 is designed in particular, the first lighting unit 144 control so that the second lighting unit 142 emits a light pattern toward the object when the first lighting unit 144 a message outside the vehicle 100 presented visually.

The second lighting control unit 145 is designed to control the second lighting unit 142 to control, and is formed of an electronic control device (ECU). The electronic control device includes a computer system (e.g., a SoC) that includes one or more processors and one or more memories, and analog processing circuitry that includes an active element such as a transistor and a passive element. The processor is, for example, a CPU, an MPU, a GPU and / or a TPU. The memory includes a ROM and a RAM. The computer system may include a non-von-Neumann-type computer such as an ASIC or an FPGA. The analog processing circuit comprises a laser light source control circuit which is designed to control the laser light source of the second lighting unit 142 to control, and a light deflection device control circuit which is configured to drive the light deflection device of the second lighting unit 142 to control.

For example, the computer system specifies the second lighting control unit 145 the outside of the vehicle 100 light patterns to be emitted based on a command signal received from the vehicle control unit 103 is transmitted, and then transmits a signal indicative of the specified light pattern to the laser light source control circuit and the light deflector control circuit. The laser light source control circuit generates a control signal for controlling the driving of the laser light source based on the signal indicating the light pattern, and then transmits the generated control signal to the laser light source. On the other hand, the light deflector control circuit generates a control signal for controlling driving of the light deflector based on the signal indicating the light pattern, and then transmits the generated control signal to the light deflector. In this way, the second lighting control unit 145 the control of the second lighting unit 142 Taxes.

In the present embodiment, the first lighting control unit 147 and the second lighting control unit 145 provided as separate components, but the first lighting control unit 147 and the second lighting control unit 145 be formed in one piece. In this regard, the first lighting control unit 147 and the second lighting control unit 145 be designed as a single electronic control device. The vehicle control unit 103 , the first lighting control unit 147 and the second lighting control unit 145 can be designed as a single electronic control device.

Next, an example of an operation flow of the lighting system will be discussed 104 below with reference to the 10 to 13B described. 10 Fig. 13 is a flowchart showing the example of the operation of the lighting system 104 according to the present embodiment. 11 is a view showing how the vehicle is 100 a light pattern L1 toward a pedestrian P who is present in a vicinity of a pedestrian crossing C when a distance D between the vehicle 100 and the pedestrian P is D1. 12th is a view showing how the vehicle is 100 the light pattern L1 emitted towards the pedestrian P when the distance D between the vehicle 100 and the pedestrian P D2 (<D1). 13A is a view showing the vehicle 100 and shows pedestrians P who stopped in front of pedestrian crossing C. 13B Fig. 13 is a view showing a lighting state of the left CSL 140L and the right CSL 140R in an in 13A situation shown. In the following description, for the convenience of description, only the pedestrian P is present as the object around an intersection.

As in the 10 and 11 is shown is determined by the vehicle control unit 103 first of all, whether the pedestrian P is in the vicinity of the pedestrian crossing C in front of the vehicle 100 is present (step S10 ). In particular, the vehicle control unit determines 103 whether the pedestrian P is present in the vicinity of the pedestrian crossing C based on the detection data relating to the surrounding environment of the vehicle 100 view made by the camera 6th and / or the radar 7th were recorded. When a determination result of step S10 Is YES, processing goes to step S12 . On the other hand, if the determination result of the step S10 Is NO, processing ends.

Next captured in step S12 the vehicle control unit 103 Position information of the pedestrian P based on the detection data received from the camera 6th and / or the radar 7th were recorded. Here is the position information of the Pedestrian P Information about a relative position of the pedestrian P with respect to the vehicle 100 .

Next emitted in step S13 the second lighting unit 142 of the lighting system 104 the light pattern L1 towards pedestrian P, as in 11 will be shown. In particular, the second lighting unit draws 142 the light pattern L1 on a road surface in front of the pedestrian P by emitting the laser light on the road surface in front of the pedestrian P. In the present embodiment, the light pattern is L1 a linear light pattern, however, a shape of the light pattern is not particularly limited. For example, the light pattern can be a circular light pattern.

If you specifically describe the processing in step S13 so generated the vehicle control unit 103 first a command signal indicating the emission of the light pattern L1 commands, and then transmits the command signal and positional information of the pedestrian P to the second lighting control unit 145 . Next, the second lighting control unit controls 145 the second lighting unit 142 such that the light pattern L1 according to the command signal received from the vehicle control unit 103 has been received, and the positional information of the pedestrian P is drawn on the road surface in front of the pedestrian P. In particular, the light deflection device of the second lighting unit scans 142 scan the road surface in front of the pedestrian P with the laser light emitted from the laser light source. Thus, the predetermined light pattern becomes L1 drawn on the road surface in front of the pedestrian P.

The second lighting control unit 145 can determine whether the light pattern L1 is emitted onto the road surface around the pedestrian P or directly emitted to the pedestrian P according to a state of the road surface on which the vehicle is running 100 moved. For example, when the road surface is not wet, the second lighting unit can 142 the light pattern L1 emit onto the road surface around the pedestrian P. On the other hand, when the road surface is wet, the second lighting unit can 142 the light pattern L1 emit directly to the pedestrian P (especially to the feet of the pedestrian P).

Next determined in step S14 the vehicle control unit 103 based on speed information of the vehicle 100 by the sensor 5 it was recorded whether the vehicle 100 stopped in front of pedestrian crossing C. When the vehicle control unit 103 determines that the vehicle 100 has not stopped in front of the pedestrian crossing C (NO in step S14 ), processing goes back to step S12 . This way the processing will step by step S12 up step S14 executed repeatedly until the vehicle is stopped 100 is determined. As in the 11 and 12th is shown, for example, the second lighting unit 142 continue with the light pattern L1 to emit around the road surface in front of the pedestrian P until the vehicle 100 stops in front of the pedestrian crossing C. Since the relative position of the pedestrian P with respect to the vehicle 100 (the position information of the pedestrian P) changes over time, in this case the position information of the pedestrian P can be updated in a predetermined cycle, and the updated position information of the pedestrian P can be sent to the second lighting control unit in the predetermined cycle 145 be transmitted.

When the vehicle control unit 103 determines that the vehicle 100 has stopped in front of the pedestrian crossing C (YES in step S14 ), next will be the light emitting segments that are the six light emitting segments 143L the left CSL 140L and the six light emitting segments 143R the right CSL 140R are to be made to light up, successively along a direction of travel (step S15 ) is changed according to a direction in which the pedestrian P crosses the pedestrian crossing C (hereinafter referred to as the traveling direction).

Specifically, the vehicle control unit determines 103 whether the pedestrian P is on a left side or a right side of the vehicle 100 is located, and then specifies the direction of travel of the pedestrian P. If, for example, as in 13A shown, the pedestrian P on the left side of the vehicle 100 is determined by the vehicle control unit 103 that the direction of travel of the pedestrian P from the vehicle 100 when viewed from is the direction to the right. In contrast, when the pedestrian P is on the right side of the vehicle 100 is determined by the vehicle control unit 103 that the direction of travel of the pedestrian P from the vehicle 100 when viewed from is the direction to the left.

Next, the vehicle control unit creates 103 a lighting control signal that commands sequential lighting of the light emitting segments, and transmits the lighting control signal to the first lighting control unit 147 . The first lighting control unit 147 successively changes the light emitting segments that of the six light emitting segments 143L and the six light emitting segments 143R to be made to light up, in the traveling direction of the pedestrian P, based on the transmitted lighting control signal.

In the situation in 13A is shown, the vehicle control unit transmits 103 for example to the first lighting control unit 147 the lighting control signal indicating that the light emitting segments are sequentially lit in the rightward direction. The first lighting control unit 147 then successively changes the light emitting segments to be lit in the rightward direction based on the transmitted lighting control signal. In 13B light up the light emission segment 143L furthest to the left is the light emitting segment 143L that is fourth from a left end of the left CSL 140L and the light emitting segment 143R on, which is fourth from a left end of the right CSL 140R is located. However, one light emitting segment may actually be consecutive between the light emitting segment 143 that is furthest to the left (hereinafter referred to as a light emitting segment 143Lm) and the light emitting segment 143R that is furthest to the right (hereinafter referred to as a light emitting segment 143Rm) can be lit, or two or more light emitting segments can be sequentially lit. The sequential lighting of the light emitting segments includes not only lighting the light emitting segments between the light emitting segment 143Lm and the light emitting segment 143Rm one by one, but also lighting every other light emitting segment (or every two or more segments).

In this way, the first lighting unit 144 who have favourited the left CSL 140L and the right CSL140R comprises visually presenting an instruction message prompting the object to perform a predetermined action (in this case, an instruction message prompting pedestrian P to cross pedestrian crossing C) by sequentially lighting the light emission segments.

Next determined in step S16 the vehicle control unit 103 based on the detection data received from the camera 6th and / or the radar 7th were detected whether the pedestrian P has crossed the pedestrian crossing C. When determining that the pedestrian P has crossed the pedestrian crossing C, the vehicle control unit leaves 103 the vehicle 100 start (step S17 ). Specifically, the vehicle control unit transmits 103 an accelerator control signal to the accelerator actuator 16 . Next, the accelerator actuator controls 16 the accelerator device 17th based on the transmitted accelerator control signal. This is how the vehicle starts 100 . The vehicle 100 can start before the pedestrian P has crossed the entire pedestrian crossing C. On the other hand, if a determination result of the step S16 Is NO, the processing in step S15 executed repeatedly.

When the vehicle 100 starts, the first lighting control unit 147 the lighting status of the left CSL 140L and the right CSL 140R change to present the pedestrian P a message indicating that the vehicle 100 starts. For example, the first lighting control unit 147 all light emission segments 143L , 143R for a predetermined number of times (e.g. three times) to present the pedestrian P the message indicating that the vehicle is 100 starts.

According to the present embodiment, the lighting state of the left CSL changes 140L and the right CSL 140R by sequentially dividing the light emitting segments selected from the six light emitting segments 143L and the six light emitting segments 143R are to be made to light up, are made to light up along the direction of movement of the pedestrian P. In this way, the pedestrian P in the vicinity of the pedestrian crossing C can know that the vehicle is 100 recognizes the pedestrian P, and can cross the pedestrian crossing C with a feeling of safety by seeing a change in the lighting state of the left CSL 140L and the right CSL 140R (the instruction message instructing the pedestrian P to cross the pedestrian crossing C). Thus, the pedestrian P is instructed to cross the pedestrian crossing C by the instruction message.

According to the present embodiment, the second lighting unit emits 142 the light pattern L1 towards the pedestrian P when the first lighting unit 144 the message outside the vehicle 100 presented visually. Therefore, the pedestrian P who is outside the vehicle 100 is present, the presence of the instruction message visually through the first lighting unit 144 is presented by the light pattern L1 notice that from the second lighting unit 142 toward the pedestrian P, and can recognize that the instruction message is a message sent from the vehicle 100 is presented to the pedestrian P. In this way the lighting system can 104 that is capable of extensive visual communication between the vehicle 100 and to realize the pedestrian P, are provided.

As in 14th is shown, the second lighting unit 142 instead of the linear Light pattern L1 a linear pattern of light L2 draw that stand out from the vehicle 100 to the pedestrian P on the road surface. As the pedestrian P and the vehicle 100 through the light pattern L2 are visually associated with each other, the pedestrian P can clearly know that the vehicle in this case 100 recognizes the pedestrian P by seeing the light pattern L2 considered. Therefore, the pedestrian P can see the presence of the instruction message visually by the first lighting unit 144 is presented easily notice and can intuitively recognize that the instruction message is the message sent by the vehicle 100 is presented to the pedestrian P.

In the description of the present embodiment, presented the first lighting unit 144 the pedestrian P the instruction message after the vehicle 100 stopped in front of pedestrian crossing C. In other words, the first lighting unit presents 144 the pedestrian P the instruction message after the second lighting unit 142 the light pattern is emitted towards the pedestrian P. However, the present embodiment is not limited to this. For example, before the vehicle 100 The first lighting unit stops in front of the pedestrian crossing C. 144 present the instruction message to the pedestrian P. In this regard, while the first lighting unit can 144 the instruction message presents the second lighting unit 142 emit the light pattern towards the pedestrian P. In particular, after the first lighting unit 144 starts presenting the instruction message to the second lighting unit 142 emit the light pattern towards the pedestrian P. The same also applies to this case: the pedestrian P who is outside the vehicle 100 is present, the presence of the instruction message issued by the first lighting unit 144 is presented by the light pattern L1 notice that from the second lighting unit 142 is emitted toward the pedestrian P, and can recognize that the instruction message is the message sent from the vehicle 100 is presented to the pedestrian P.

Next is a vehicle 100A , that with a first lighting unit 144A according to a modification of the second embodiment, with reference to FIG 15th and 16 described. 15th Fig. 13 is a view showing a stop notification message M1 (Character information) shows the pedestrian P from the first lighting unit 144A is presented visually according to a modification of the second embodiment. 16 Fig. 13 is a view showing an instruction message M2 (Character information) shows the pedestrian P from the first lighting unit 144A is presented visually. The vehicle 100A differs from the vehicle 100 according to the present embodiment to the effect that the first lighting unit 144A instead of the first lighting unit 144 is mounted. Then the first lighting unit 144A described in detail.

As in the 15th and 16 shown is the first lighting unit 144A formed, a predetermined message to the outside of the vehicle 100 present visually. In particular, the first lighting unit 144A formed the stop notification message M1 (“Stop”) or the instruction message M2 (“Please cross pedestrian crossing”), which instructs you to cross the pedestrian crossing, on a windshield 120F of the vehicle 100A to display. In this example, messages M1 , M2 on the windshield 120F displayed as character information, but may be a message on the windshield 120F can be displayed as graphic information.

The first lighting unit 144A can be designed as a projector device, which the predetermined message on the windshield 120F projected. The first lighting unit 144A can put the given message on the windshield 120F draw by the windshield 120F irradiated with laser light. In this case it is the windshield 120F of the vehicle 100A a windshield for a head-up display (HUD), and may include a light-emitting layer formed of two glass plates and a phosphor material provided between the two glass plates. A laser light source of the first lighting unit 144A can be designed to emit the laser light in a short wavelength band (for example a wavelength λ = 350 nm to 410 nm). When the windshield 120F with which laser light in the short wavelength band is irradiated, the light-emitting layer of the windshield emits 120F Light, and the default message will appear on the windshield 120F displayed.

When the distance D between the vehicle 100A and the pedestrian P who is present in the vicinity of the pedestrian crossing C is less than or equal to a predetermined distance Dth, the first lighting unit can 144A the pedestrian P the stop notification message M1 present that in 15th will be shown. In this case, while the first lighting unit 144A the stop notification message M1 presents the second lighting unit 142 the Light pattern L1 emit towards the pedestrian P. In particular, after the first lighting unit 144 thus begins the communication M1 to display the second lighting unit 142 the light pattern L1 emit towards the pedestrian P. The pedestrian P can detect the presence of the stop notification message M1 visually through the first lighting unit 144 is presented by the light pattern M1 notice and can see the stop notification message M1 a message is issued by the vehicle 100 is presented to the pedestrian P. The pedestrian P can know that the vehicle is 100 stops, and can cross the pedestrian crossing C with a feeling of safety by receiving the stop notification message M1 considered.

The first lighting unit 144A can the pedestrian P the instruction message M2 , in the 16 is shown present after the vehicle 100A stopped in front of pedestrian crossing C. In this case, the pedestrian P in the vicinity of the pedestrian crossing C can know that the vehicle is 100A recognizes the pedestrian P, and can cross the pedestrian crossing C with a feeling of safety by following the instruction message M2 considered. The pedestrian P is thus instructed to cross the pedestrian crossing C.

Next is a situation in which the vehicle 100A the light pattern L2 to the other vehicle 100C emitted and an instruction message M3 the other vehicle 100C presented visually, referring to the 17th and 18th described. 17th is a view showing how the vehicle is 100A the light pattern L2 to the other vehicle 100C that is about to turn right. 18th Fig. 13 is a view showing the instruction message M3 shows that the further vehicle 100C from the first lighting unit 144A is presented.

First of all, the vehicle control unit detects 103 of the vehicle 100A the presence of the other vehicle 100C about to turn right in the vicinity of an intersection based on detection data received from the camera 6th and / or from the radar 7th were recorded. For example, if the vehicle control unit 103 based on the detection data specifies that a right turn signal of the further vehicle 100C flashes, determines the vehicle control unit 103 that the further vehicle 100C is a vehicle about to turn right. Next, the vehicle control unit detects 103 position information of the further vehicle 100C based on the detection data. As in 17th is shown, then draws the second lighting unit 142 the linear light pattern L2 that is different from the vehicle 100A to another vehicle 100C extends onto a road surface. In particular, the second lighting control unit controls 145 the second lighting unit 142 such that the light pattern L2 from the vehicle 100A to another vehicle 100C is drawn based on a command signal received from the vehicle control unit 103 was received, and the position information of the other vehicle 100C . Then the first lighting control unit controls 147 the first lighting unit 144A such that the first lighting unit 144A the instruction message M3 ("Please turn right"), which is in 18th is shown on the windshield 120F indicates. While the second lighting unit 142 the light pattern L2 emitted, the first lighting unit here 144A the instruction message M3 on the windshield 120F Show.

In this way, a driver of the further vehicle 100C the presence of the instruction message M3 by the first lighting unit 144A is presented by the light pattern L2 notice and can intuitively recognize that the instruction message M3 a message is issued by the vehicle 100A is presented to the driver. The driver of the further vehicle 100C can turn right at the intersection with a safe feeling by following the instruction message M3 considered. This allows extensive visual communication between the vehicle 100A and the other vehicle 100V be realized.

In this example, the first lighting unit is presented 144A the other vehicle 100C the instruction message M3 after the second lighting unit 142 the light pattern L2 to the pedestrian P emitted. However, the present example is not limited to this. For example, after the first lighting unit 144A thus begins the instruction message M3 to present the second lighting unit 142 the light pattern L2 emit towards the pedestrian P.

(Third embodiment)

Next, a third embodiment of the present invention will be described with reference to the drawings. The descriptions of elements that have the same reference numerals as those already described in the description of the present embodiment are omitted for the convenience of description. Dimensions of elements shown in the drawings may differ from those of actual elements for ease of description.

In the description of this embodiment, a “left-right direction”, an “up-down direction”, and a “front-back direction” are referred to accordingly for ease of description. These directions are relative directions common to one in the 19A and 19B shown vehicle 200 be determined. Here, the “left-right direction” is a direction that includes a “left direction” and a “right direction”. The “up-down direction” is a direction that includes an “up direction” and a “down direction”. The “front-back direction” is a direction that includes a “forward direction” and a “backward direction”. Although not in the 19A and 19B as shown, the front-rear direction is the direction orthogonal to the left-right direction and the top-bottom direction.

First is a vehicle system 202 according to the present embodiment below with reference to FIG 19A , 19B and 20th described. 19A Fig. 3 is a front view of the vehicle 200 that comes with the vehicle system 202 Is provided. 19B Fig. 3 is a rear view of the vehicle 200 . 20th Figure 3 is a block diagram of the vehicle system 202 . The vehicle 200 is a vehicle (automobile) capable of traveling in an automated driving mode.

As in 20th is shown includes the vehicle system 202 a vehicle control unit 203 , a vehicle lighting system 204 (hereinafter referred to simply as a "lighting system 204 “Designated), optical communication systems 250F , 250R , the sensor 5 , the camera 6th and the radar 7th . The vehicle system 202 also includes the HMI 8th , the GPS 9 , the wireless communication unit 10 , the storage device 11 and an in-vehicle speaker system 280 . The vehicle system 202 also includes the steering actuator 12th , the steering device 13 , the brake actuator 14th who have favourited the braking device 15th , the accelerator actuator 16 and the accelerator device 17th .

The vehicle control unit 203 is designed to move the vehicle 200 to control. The vehicle control unit 203 is built up, for example, from at least one electronic control device (ECU). The electronic control device includes a computer system (e.g., a SoC) that includes one or more processors and one or more memories, and an electronic circuit that includes an active element such as a transistor and a passive element. The processor is, for example, a CPU, an MPU, a GPU and / or a TPU. The CPU can include a plurality of CPU cores. The GPU can include a plurality of GPU cores. The memory includes a ROM and a RAM. The ROM can store a vehicle control program. For example, the vehicle control program can include an artificial intelligence (AI) program for automated driving. The AI program is a program constructed through supervised or unsupervised machine learning (especially deep learning) using a multi-layer neural network. The RAM can temporarily store a vehicle control program, vehicle control data and / or surrounding environment information which indicate the surrounding environment of the vehicle. The processor can be configured to load a program, which is determined from various vehicle control programs stored in the ROM, into the RAM and to carry out various types of processing in cooperation with the RAM. The computer system may include a non-von-Neumann-type computer such as an ASIC or an FPGA. Furthermore, the computer system can comprise a combination of a von-Neumann-type computer and a non-von-Neumann-type computer.

The lighting system 204 includes a lighting unit 242 and a lighting control unit 243 . The lighting unit 242 is designed to send a message outside the vehicle 200 to present visually by drawing a light pattern on a road surface using laser light. As in the 19A and 19B shown is the lighting unit 242 for example on a vehicle body roof 210A of the vehicle 200 arranged.

The lighting unit 242 includes, for example, a laser light source configured to emit the laser light, a light deflecting device configured to deflect the laser light emitted from the laser light source, and an optical system element such as a lens. The laser light source is, for example, an RGB laser light source which is designed to emit red laser light, green laser light and blue laser light. The light deflection device is, for example, a MEMS mirror, a galvanometer mirror, a polygon mirror or the like. As will be described below, the lighting unit is 242 formed a light pattern L10 (please refer 22nd ) to draw on the road surface by scanning with the laser light. When the laser light source is the RGB laser light source, the lighting unit can 242 draw the light pattern with different colors on a road.

Although a single lighting unit in the present embodiment 242 on the vehicle body roof 210A is arranged are the number, arrangement, shape and the like of the lighting unit 242 not particularly limited as long as the lighting unit 242 can draw the light pattern on the road surface. For example, if two lighting units 242 are provided, one of the two lighting units 242 in a left headlight 220L be mounted, and the other can be in the right headlight 220R be mounted. If four lighting units 242 are provided, a lighting unit 242 in each of the left headlights 220L , the right headlight 220R , a left rear combination lamp 230L and a right rear combination lamp 230R be mounted. Although in the description of the present embodiment, a raster scanning method as a drawing method of the lighting unit 242 is selected, the present embodiment is not limited thereto. For example, the drawing method of the lighting unit 242 be a DLP process or an LCOS process. In this case, an LED is used as a light source instead of a laser.

The lighting control unit 243 is designed to control the lighting unit 242 to control, and is formed of an electronic control device (ECU). The electronic control device comprises a computer system (for example a SoC) which comprises one or more processors and one or more memories, a laser light source control circuit (an analog processing circuit) which is designed to control the laser light source of the lighting unit 242 and a light deflecting device control circuit (an analog processing circuit) configured to drive the light deflecting device of the lighting unit 242 to control. The processor is, for example, a CPU, an MPU, a GPU and / or a TPU. The memory includes a ROM and a RAM. The computer system may include a non-von-Neumann-type computer such as an ASIC or an FPGA. In the present embodiment, the vehicle control units are 203 and the lighting control unit 243 provided as separate components, however, the vehicle control unit 203 and the lighting control unit 243 be formed in one piece. In this regard, the lighting control unit 243 and the vehicle control unit 203 be formed from a single electronic control device.

For example, the computer system specifies the lighting control unit 243 the outside of the vehicle 200 light patterns to be emitted based on a command signal received from the vehicle control unit 203 is transmitted, and then transmits a signal indicative of the specified light pattern to the laser light source control circuit and the light deflector control circuit. The laser light source control circuit generates a control signal for controlling the driving of the laser light source based on the signal indicating the light pattern, and then transmits the generated control signal to the laser light source of the lighting unit 242 . On the other hand, the light deflector control circuit generates a control signal for controlling the driving of the light deflector based on the signal indicating the light pattern, and then transmits the generated control signal to the light deflector of the lighting unit 242 . In this way, the lighting control unit 243 the control of the lighting unit 242 Taxes.

As in the 19A and 19B shown is the optical communication system 250F on a front of the vehicle 200 arranged. The optical communication system 250F for example, in a bumper directly below a grille 230 be arranged. The optical communication system 250R is on a rear of the vehicle 200 arranged. The optical communication system 250F can for example in a bumper directly below a rear license plate 240 be arranged. In the following description, the optical communication systems 250F , 250R collectively simply as an optical communication system 250 are designated.

Any of the optical communication systems 250F , 250R comprises a light emitting unit 252 , a light emitting control unit 253 , a light receiving unit 254 and a light receiving control unit 255 . The light emitting unit 252 is configured to send light in a wavelength band associated with a predetermined sound message to a light receiving unit 254 to emit that is mounted on other vehicles that are outside the vehicle 200 are present. The light emitting unit 252 includes a wavelength tunable light source (e.g. a wavelength tunable laser) configured to emit light of different wavelengths, a light deflecting device configured to deflect the light (e.g. laser light) emitted by the wavelength tunable light source, and an optical system element such as a lens . The wavelength-tunable light source is configured to emit visible or invisible light, and a wavelength range of the light emitted from the wavelength-tunable light source is not particularly limited.

The light emitting control unit 253 is designed to control the light emitting unit 252 to control. In particular, the light emitting control unit determines 253 that from the light emitting unit 252 emitted light from a plurality of different lights in different wavelength bands and controls the light emitting unit 252 such that the light emitting unit 252 the light to the light receiving unit 254 emitted, which is mounted on other vehicles. For example, the light emitting control unit is 253 configured to determine the sound notification that corresponds to the light pattern (a visual notification) emitted by the lighting unit 242 is drawn, and then to determine a wavelength band Δλ1 (or a central wavelength Ac1) corresponding to the particular sound message. The light emitting control unit 253 is formed, the light emitting unit 252 to control in such a way that the light in the certain wavelength band Δλ1 from the light emitting unit 252 is emitted.

The light emitting control unit 253 is composed of an electronic control device (ECU). The electronic control device can be a computer system that includes one or more processors (for example a CPU or an MPU) and one or more memories (for example a ROM or a RAM), a laser light source control circuit (an analog processing circuit) which is designed to control the wavelength-tunable Light source of the light emitting unit 252 and a light deflecting device control circuit (an analog processing circuit) which is configured to drive the light deflecting device of the light emitting unit 252 to control. The memory may be a table (a message conversion table) showing a relationship between the visual message given by the lighting unit 242 and displays the sound message, and store a table (wavelength conversion table) showing a relationship between the sound message and the wavelength band of the light emitting unit 252 emitted light. In this case, the light emission control unit 253 determine the sound message corresponding to the visual message with reference to the message conversion table. The light emitting control unit 253 can be the wavelength band of the light emitting unit 252 determine the emitted light corresponding to the sound message by referring to the wavelength conversion table, and then drive the light emitting unit 252 control in such a way that the light in the specific wavelength band from the light emitting unit 252 is emitted. In the present embodiment, the vehicle control units are 203 and the light emitting control unit 253 provided as separate components, however, the vehicle control unit 203 and the light emitting control unit 253 be formed in one piece.

The light receiving unit 254 is formed by the light emitting unit 252 receive light emitted by other vehicles (e.g. the laser light). The light receiving unit 254 can for example be designed as an optical spectroscope which is designed to measure an electromagnetic wave spectrum of the received light. The optical spectroscope has a diffusing element (for example a diffraction grating or a prism) which is configured to diffuse the received light, and a photodetector which is configured to convert an optical signal into an electrical signal. The light receiving control unit 255 is formed, the wavelength band of the light emitting unit 252 emitted light based on a signal received from the light receiving unit 254 and specify the sound message corresponding to the wavelength band of the specified light. The light receiving control unit 255 is designed to receive the sound notification via the vehicle control unit 203 specified to the in-vehicle speaker system 280 transferred to.

The light receiving control unit 255 is composed of an electronic control device (ECU). The electronic control device may include a computer system that includes one or more processors (e.g., a CPU or an MPU) and one or more memories (e.g., a ROM or a RAM), and an analog processing circuit formed by the light receiving unit 254 to process output electrical signal. The memory may store a table (a wavelength conversion table) showing a relationship between the wavelength band of the light receiving unit 254 received light and sound notification. In this regard, it is preferable that the relationship between the wavelength band of the light and the sound message indicated by the wavelength conversion table corresponds to that in the memory of the light receiving control unit 255 is stored, the relationship between the wavelength band of the light and the sound message indicated by the wavelength conversion table stored in the memory of the light emitting control unit 253 is stored. For example, when the wavelength band is Δλ1 and a sound message A1 with each other in the light emitting control unit 253 are associated, the wavelength band Δλ1 and the sound message are preferred A1 also with each other in the light receiving control unit 255 associated. The light receiving control unit 255 the sound message corresponding to the wavelength band of the by the light receiving unit 254 received light by referring to the wavelength conversion table. In the present embodiment, the vehicle control units are 203 and the light receiving control unit 255 provided as separate components, however, the vehicle control unit 203 and the light receiving control unit 255 be formed in one piece.

The in-vehicle speaker system 280 includes an in-vehicle loudspeaker control unit 282 and an in-vehicle speaker 283 . The in-vehicle loudspeaker 283 is trained sound to an occupant of the vehicle 200 output, and is at a predetermined position within the vehicle 200 arranged. The in-vehicle vehicle 283 is, for example, a loudspeaker that has a related art structure. The in-vehicle loudspeaker control unit 282 is designed to use the in-vehicle loudspeaker 283 to control. The in-vehicle loudspeaker control unit 282 is composed of an electronic control device (ECU). The electronic control device comprises a computer system comprising one or more processors (e.g. a CPU or an MPU) and one or more memories (e.g. a ROM and a RAM), and other electronic circuits (e.g. an amplifier circuit and a DA converter).

Next, an example of the operation of an inter-vehicle communication system according to the present embodiment will be described below with reference to FIG 21st and 22nd described. 21st Fig. 13 is a sequence diagram showing the example of the operation of the inter-vehicle communication system according to the present embodiment. 22nd Fig. 3 is a view showing a vehicle 200A (a transmitting side vehicle) that is the light pattern L10 on a road surface R10 draws a park section P10 corresponds, and a vehicle 200B (a receiving-side vehicle) moving in a parking lot. The inter-vehicle communication system according to the present embodiment includes the vehicle 200A and the vehicle 200B . In the present description, the vehicles are 200A , 200B present in the parking lot. The vehicles 200A , 200B are with the vehicle system 202 equipped that in 20th will be shown.

As in 21st is shown, determined in step S21 the vehicle control unit 203 of the vehicle 200A the parking section P10 to park on. Specifically specifies the vehicle control unit 203 an empty parking space around the vehicle 200A based on detection data relating to the surrounding area of the vehicle 200 view made by the camera 6th and / or the radar 7th were recorded. Then the vehicle control unit determines 203 the parking section P10 from one or more empty parking sections.

As in 22nd next draws the lighting unit 242 of the vehicle 200A the light pattern L10 on the road surface R10 that the park section P10 corresponds by sending laser light onto the road surface R10 emitted to the parking section P10 corresponds. In this way, a visual message can be sent outside the vehicle 200A be presented by the light pattern L10 through the lighting unit 242 on the road surface R10 is drawn. That is, by having the light pattern L10 (the visual message) recognizes that from the vehicle 200A is emitted, an occupant of the vehicle can 200B know that for the vehicle 200A it is planned that it will be in the park section P10 is parked and that for the vehicle 200A it is planned to move backwards. Although a rectangular light pattern in the present embodiment L10 , that is an outer dimension of the vehicle 200A corresponds than the light pattern L10 is drawn, a shape of the light pattern is not limited to this. For example, the light pattern can be a linear or circular light pattern.

If you specifically describe the processing in step S22 so generated the vehicle control unit 203 a command signal that the light pattern L10 commands, and then transmits the command signal and the position information of the parking section P10 to the lighting control unit 243 . Next, the lighting control unit controls 243 the lighting unit 242 such that the light pattern L10 according to the command signal received from the vehicle control unit 203 was received on the road surface R10 is drawn. In particular, the light deflection device of the lighting unit scans 242 the road surface R10 with the laser light emitted from the laser light source.

Next, the vehicle control unit determines 203 whether the other vehicle (the vehicle 200B in this example) behind the vehicle 200A is present based on the detection data provided by the camera 6th and / or the radar 7th were recorded (step S23 ). When a determination result of step S23 Is YES, processing goes to step S24 . On the other hand, if the determination result of the step S23 Is NO, the vehicle control unit waits 203 until the other vehicle is behind the vehicle 200A is present.

Next specified in step S24 the vehicle control unit 203 a position of the vehicle 200B based on the detection data provided by the camera 6th and / or the radar 7th and then transmits position information of the vehicle 200B to the light emitting control unit 253 of the vehicle 200 . Next determined in step S25 the light emitting control unit 253 of the vehicle 200A a sound notification to the vehicle 200B should be presented. Specifically, the vehicle control unit transmits 203 Notification information about the light pattern L10 (the visual message) from the lighting unit 242 is emitted to the light emitting control unit 253 . The light emitting control unit 253 then determines the sound message that the light pattern L10 corresponds, with reference to the Message conversion table showing the relationship between the light pattern (the visual message) and the sound message. An example of the sound message given to the light pattern L10 is that "the vehicle ahead will move backwards" or "the vehicle ahead will be parked".

Next determined in step S26 the light emitting control unit 253 a wavelength band of the to the light receiving unit 254 of the vehicle 200B emitted light. Specifically determines the light emitting control unit 253 the wavelength band (a first wavelength band) of the from the light emitting unit 252 emitted light corresponding to the particular sound message by referring to the wavelength conversion table showing the relationship between the sound message and the wavelength band of the light. In the wavelength conversion table, each of a plurality of sound messages is associated with one of a plurality of wavelength bands.

Next, controls in step S27 the light emitting control unit 253 the control of the light emitting unit 252 such that the light in the certain wavelength band (hereinafter referred to as a “first light”) from the light emitting unit 252 to the light receiving unit 254 of the vehicle 200B is emitted based on the position information of the vehicle 200B by the vehicle control unit 203 was transferred. When the light receiving unit 254 on a front bumper of the vehicle 200B is mounted, emits the light emitting unit in this regard 252 the first light to the first bumper of the vehicle 200B down.

Next, receive in step S28 the light receiving unit 254 of the vehicle 200B the first light from the vehicle 200A . Next, the light receiving control unit specifies 255 of the vehicle 200B a sound message associated with the wavelength band of the first light (step S29 ). Specifically specifies the light receiving control unit 255 first the wavelength band of the first light based on an electrical signal received from the light receiving unit 254 was issued. Next, the light receiving control unit specifies 255 the sound message corresponding to the wavelength band of the first light by referring to the wavelength conversion table indicating the relationship between the wavelength band of the first light and the sound message. When the sound message that the light pattern L10 is that “the vehicle in front will be parked”, is that in step S29 also specified sound notification that “the vehicle in front will be parked”.

Next is the in-vehicle loudspeaker control unit 282 of the vehicle 200B the specified sound message from the in-vehicle loudspeaker 283 (Step S30 ) out. Specifically, the light receiving control unit transmits 255 Information (sound information) about the sound notification to the in-vehicle speaker control unit 282 via the vehicle control unit 203 . Then the in-vehicle loudspeaker control unit enables it 282 the in-vehicle loudspeaker 283 to output the sound notification as audio information. In this way the occupant of the vehicle can 200B recognize with your ears the sound messages coming from the vehicle 200A through the in-vehicle loudspeaker 283 is presented.

According to the above constitution, the first light becomes the light receiving unit 254 emitted on the vehicle 200B is mounted when the lighting unit 242 of the vehicle 200A the light pattern L10 outside the vehicle 200A presents. When the light receiving unit 254 receives the first light, the sound notification associated with the wavelength band of the first light becomes from the in-vehicle speaker 283 of the vehicle 200B to the occupant of the vehicle 200B spent there. Therefore, the occupant of the vehicle can 200B visually the light pattern L10 from the vehicle 200A recognize and can hear the sound message from the vehicle 200A detect. That is, the occupant of the vehicle 200B can be an intent of the vehicle visually and by hearing 200A detect. Therefore, the inter-vehicle communication system and the vehicle system 202 that are able to realize extensive communication between vehicles through the sense of sight and hearing are provided.

In the above configuration, the light emitting unit emits 252 of the vehicle 200A the first light to the light receiving unit 254 of the vehicle 200B when the lighting unit 242 the light pattern L10 outside the vehicle 200A presents. In this regard, the light emitting unit preferably emits 252 of the vehicle 200A the first light to the light receiving unit 254 of the vehicle 200B while the lighting unit 242 the light pattern L10 outside the vehicle 200A presents. On the other hand, the light emitting unit 252 of the vehicle 200A the first light to the light receiving unit 254 of the vehicle 200B emit before the lighting unit 242 the light pattern L10 outside the vehicle 200A presents.

(First modification)

Next is a vehicle 200C that with a lighting unit 242C after a first Modification of the third embodiment is provided with reference to the below 23 and 24 described. 23 is a view showing the vehicle 200C (a transmitting-side vehicle) and the vehicle 200B (the receiving-side vehicle) which is about to show the parking section P10 to leave. 24 Fig. 3 is a front view of the vehicle 200C that with the lighting unit 242C is equipped according to the first modification of the third embodiment. The vehicle 200C differs from the vehicle 200A according to the present embodiment to the effect that the lighting unit 242C instead of the lighting unit 242A is mounted (see 19A and 19B) . Then the lighting unit 242C described in detail.

If, as in the 23 and 24 shown is the vehicle 200B that is in front of the vehicle 200C is present, is about to enter the parking section P10 to leave is the lighting unit 242C of the vehicle 200C trained a communication M1 ("Please drive first") outside the vehicle 200C showcase. In particular, the lighting unit 242C trained the communication M1 on a windshield 220 of the vehicle 200C to display. In this example the message M1 as character information on the windshield 220 displayed, however, a message can be displayed as graphic information on the windshield 220 are displayed.

The lighting unit 242C can be designed as a projector device that projects a predetermined message onto the windshield. The lighting unit 242C can put the given message on the windshield 220 draw by the windshield 220 irradiated with laser light. In this case it is the windshield 220 of the vehicle 200C a windshield for a HUD, and may include a light emitting layer formed from two glass plates and a phosphor material provided between the two glass plates. A laser light source of the lighting unit 242C can be designed to emit the laser light in a short wavelength band (for example a wavelength λ = 350 nm to 410 nm). When the windshield 220 with which laser light in the short wavelength band is irradiated, the light-emitting layer of the windshield emits 220 Light, and the default message will appear on the windshield 220 displayed.

By visually making the message M1 detects that through the lighting unit 242C that is presented on the vehicle 200C which is a rear vehicle, the occupant of the vehicle can 200B , which is about to enter the park section P10 to leave, know the vehicle 200C the vehicle 200B Makes space. Then this is done by the light emitting unit 252 of the vehicle 200C emitted first light to the light receiving unit 254 emitted on the vehicle 200B is mounted. When the light receiving unit 254 of the vehicle 200B receives the first light, the sound notification (for example, “please drive first”) associated with the wavelength band of the first light is next from the in-vehicle speaker 283 of the vehicle 200B to the occupant of the vehicle 200B spent there. Therefore, the occupant of the vehicle can 200B visually the message M1 from the vehicle 200C recognize and can hear the sound message from the vehicle 200C detect. That is, the occupant of the vehicle 200B can be an intent of the vehicle visually and by hearing 200C detect. Therefore, the inter-vehicle communication system and the vehicle system 202 that are able to realize extensive communication between vehicles through the sense of sight and hearing are provided.

(Second variation)

Next is a vehicle 200D that with lighting units 242L , 242R according to a second modification of the third embodiment, below with reference to FIG 25th described. 25th Fig. 3 is a front view of the vehicle 200D that with the lighting unit 242L , 242R is equipped according to the second modification. The vehicle 200D differs from the vehicle 200A according to the present embodiment to the effect that the lighting units 242L , 242R instead of the lighting unit 242A are mounted (see 19A and 19B) . After that the lighting units 242L , 242R described in detail.

Each of the lighting units 242L , 242R includes one or more light emitting elements such as an LED and an LD, and an optical system element such as a lens. The lighting units 242L , 242R are designed to provide a visual message to the outside of the vehicle 200D to present by providing lighting features of the lighting units 242L , 242R (Lighting up / switching off, flashing, lighting color and the like). For example, if the vehicle 200D the vehicle 200B The lighting units can make room 242L , 242R flash. By having in this case visually the flashing of the lighting units 242L , 242R detects who is on the vehicle 200D that is a rear vehicle, the occupant of the vehicle can 200B , which is about to enter the park section P10 to leave, know the vehicle 200D the vehicle 200B Makes space.

Then this is done by the light emitting unit 252 of the vehicle 200D emitted first light to the light receiving unit 254 emitted on the vehicle 200B is mounted. When the light receiving unit 254 of the vehicle 200B receives the first light, the sound notification (for example, “please drive first”) associated with the wavelength band of the first light is next from the in-vehicle speaker 283 of the vehicle 200B to the occupant of the vehicle 200B spent there. Therefore, the occupant of the vehicle can 200B visually a change in the lighting characteristics of the lighting units 242L , 242R of the vehicle 200D recognize and can hear the sound message from the vehicle 200D detect. That is, the occupant of the vehicle 200B can be an intent of the vehicle visually and by hearing 200D detect. Therefore, the inter-vehicle communication system and the vehicle system 202 that are able to realize extensive communication between vehicles through the sense of sight and hearing are provided.

Of course, although the embodiments of the present invention have been described, the technical scope of the present invention should not be interpreted in a manner limited by the description of the embodiments. Those skilled in the art should understand that the present embodiments are only examples and that various modifications can be made within the scope of the invention described in the claims. The technical scope of the present invention should be determined based on the scope of the invention defined in the claims and an equivalent scope thereof.

In the present embodiments, a driving mode of the vehicle is described as including the fully automated driving mode, the advanced driving assist mode, the driving assist mode, and the manual driving mode; however, the driving mode of the vehicle should not be limited to these four modes. The classification of the driving mode of the vehicle can be appropriately changed in accordance with laws or regulations in each country pertaining to automated driving. Similarly, definitions of “fully automated driving mode”, “advanced driving assist mode” and “driving assist mode” in the description of the present embodiment are only examples and can be appropriately changed in accordance with the laws or regulations in each country pertaining to automated driving .

In the present embodiments, since the vehicle is passing on a left side, step S3 the street width in the right side of the vehicle 1 however, when the vehicle passes on a right side, a road width becomes in a left side area of the vehicle 1 specified.

The present application appropriately adopts the contents disclosed in Japanese Patent Application (Japanese Patent Application No. 2017-254315 ) filed on December 28, 2017, the contents disclosed in Japanese Patent Application (Japanese Patent Application No. 2017-254313 ) filed on December 28, 2017 and the contents disclosed in Japanese Patent Application (Japanese Patent Application No. 2018-003693 ), which was filed on January 12, 2018.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• JP H9277887 A [0005]
• JP 2017254315 [0180]
• JP 2017254313 [0180]
• JP 2018003693 [0180]

Claims (19)

A vehicle lighting system provided in a vehicle comprising: a lighting unit configured to emit light to the outside of a vehicle; and a lighting control unit configured to control the lighting unit such that the lighting unit gives an oncoming vehicle that is present in front of the vehicle predetermined information about locomotion assistance of the oncoming vehicle based on a vehicle width of the oncoming vehicle and a road width in a lateral area of the vehicle presented visually. Vehicle lighting system according to Claim 1 wherein the predetermined information includes at least one of character information and graphic information. Vehicle lighting system according to Claim 1 or 2 wherein, if at least the vehicle width is greater than or equal to the street width, the lighting control unit is configured to control the lighting unit such that the lighting unit visually presents information to the oncoming vehicle that prompts the oncoming vehicle to stop. Vehicle lighting system according to one of the Claims 1 to 3 , wherein the predetermined information comprises the character information, and wherein the lighting control unit is configured to determine a display language of the predetermined information based on a current position of the vehicle, and to control the lighting unit such that the lighting unit to the oncoming vehicle the predetermined information in the determined Display language presented visually. Vehicle lighting system according to one of the Claims 1 to 3 wherein the predefined information comprises the character information, and wherein the lighting unit is configured to visually present the predefined information to the oncoming vehicle in a plurality of display languages. Vehicle lighting system according to one of the Claims 1 to 5 wherein the lighting unit is configured to visually present the predetermined information on a road surface in front of the oncoming vehicle. Vehicle lighting system according to one of the Claims 1 to 6th , wherein the lighting control unit is designed to wirelessly transmit the predetermined information to the oncoming vehicle. A vehicle lighting system provided in a vehicle comprising: a first lighting unit configured to visually present a message to the outside of a vehicle; a first lighting control unit configured to control the first lighting unit; a second lighting unit configured to emit a light pattern to an object present outside the vehicle; and a second lighting control unit which is designed to control the second lighting unit, wherein the second lighting control unit is configured to control the second lighting unit in such a way that the second lighting unit emits the light pattern towards the object when the first lighting unit visually presents the message outside the vehicle. Vehicle lighting system according to Claim 8 , wherein the second lighting unit is configured to draw the light pattern on a road surface around the object, and wherein the second lighting control unit is configured to control the second lighting unit such that the second lighting unit draws the light pattern on the road surface around the object when the first lighting unit visually presents the message to the outside of the vehicle. Vehicle lighting system according to Claim 9 wherein the light pattern is a light pattern that the object visually associates with the vehicle. Vehicle lighting system according to one of the Claims 8 to 10 wherein the message is a message relating to an action of the vehicle or a message requesting the object to perform a predetermined action. A vehicle comprising: the vehicle lighting system according to any one of Claims 1 to 11 . A vehicle system provided in a vehicle, comprising: a lighting unit configured to visually present a first message outside of a vehicle; a lighting control unit configured to control the lighting unit; a light emitting unit configured to emit a first light in a first wavelength band associated with a predetermined sound message towards a light receiving unit, which is mounted on another vehicle that is present outside the vehicle; and a light emitting control unit configured to control the light emitting unit, the light emitting control unit being configured to control the light emitting unit such that the light emitting unit emits the first light toward the light receiving unit when the lighting unit visually presents the first message to the outside of the vehicle. Vehicle system according to Claim 13 wherein the lighting unit is configured to visually present the first message to the outside of the vehicle by drawing a light pattern on a road surface. Vehicle system according to Claim 13 wherein the lighting unit is configured to display the first message on a windshield of the vehicle. Vehicle system according to Claim 13 wherein the lighting unit is configured to visually present the first message to the outside of the vehicle by changing a lighting feature of the lighting unit. Vehicle system according to one of the Claims 13 to 16 wherein the light emitting control unit is configured to determine the first light from a plurality of different lights in different wavelength bands based on the first notification, and to control the light emitting unit so that the first light is emitted toward the light receiving unit. Vehicle comprising: the vehicle system according to the Claims 13 to 17th . Vehicle-to-vehicle communication system, comprising: a first vehicle; and a second vehicle, wherein the first vehicle comprises: a lighting unit configured to visually present a first message to the outside of the first vehicle; a lighting control unit configured to control the lighting unit; a light emitting unit configured to emit a first light in a first wavelength band toward the second vehicle; and a light emitting control unit which is configured to control the light emitting unit, wherein the second vehicle comprises: a light receiving unit configured to receive the first light; a light reception control unit configured to specify a predetermined sound message associated with the first wavelength band from a plurality of sound messages; and an in-vehicle speaker configured to output the specified predetermined sound message to an occupant of the second vehicle, and wherein the light emitting control unit is configured to control the light emitting unit such that the light emitting unit emits the first light toward the light receiving unit when the lighting unit visually presents the first message outside the first vehicle.

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